完整的自适应事件触发机器人远程操作系统的预定义时间控制
Xin Yu1, Xia Liu1, Chengwei Pan1
1School of Electrical Engineering and Electronic Information, Xihua University, Chengdu 610039, China.
The Review of scientific instruments
|December 4, 2025
概括
本研究介绍了一种完整的自适应事件触发控制策略,以增强机器人远程操作. 该方法减少了通信负载,同时确保了主机器人和奴隶机器人之间的精确跟踪准确性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 网络化系统 网络化系统
背景情况:
- 机器人远程操作系统面临的挑战是通信带宽有限,影响跟踪性能.
- 现有的控制策略往往需要频繁的数据传输,导致通信效率低下.
- 准确的位置跟踪对于在远程操作中有效的人机交互至关重要.
研究的目的:
- 开发一个完整的自适应事件触发控制策略,以提高机器人远程操作中的通信效率和跟踪精度.
- 通过智能触发数据更新来减少通信网络访问频率.
- 为了在预定义的时间内确保主机器人和奴隶机器人之间的精确位置跟踪.
主要方法:
- 一个完整的自适应事件触发机制被设计用于评估数据更新决策的错误积分.
- 使用在触发时刻传输的数据实现了一个预定义的时间滑动模式控制器.
- 使用理论分析,严格证明了系统的稳定性.
- 拟议战略的有效性通过广泛的模拟来验证.
主要成果:
- 综合适应事件触发机制显著降低了通信网络访问频率.
- 预定义时间的滑动模式控制器实现了主机器人和奴隶机器人之间的准确位置跟踪.
- 整体系统的稳定性已经得到证实.
- 模拟证实了拟议的战略优于现有方法的优势.
结论:
- 拟议的整体自适应事件触发控制策略有效地提高了机器人远程操作中的通信效率.
- 该策略确保准确的位置跟踪,错误在预定义的时间内趋同.
- 这种方法可以显著减少网络机器人系统的信息传输.
相关概念视频
01:10Control Systems
1.8K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
At the heart...
1.8K
01:07Time-Domain Interpretation of PD Control
351
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
351
01:17Open and closed-loop control systems
1.5K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.5K
01:25Control Systems: Applications
1.1K
Electrical engineering plays a pivotal role in our daily lives, with control systems at the heart of many applications, from home appliances to sophisticated space shuttles. Control systems manage and regulate the behavior of devices and processes, ensuring they function safely, correctly, and efficiently.
In modern vehicles, control systems manage various functions to enhance performance and safety. The steering wheel and accelerator are primary inputs in a car's control system. The...
In modern vehicles, control systems manage various functions to enhance performance and safety. The steering wheel and accelerator are primary inputs in a car's control system. The...
1.1K
01:24PI Controller: Design
1.1K
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
1.1K
01:26Feedback control systems
663
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
663