| 张永林1,2， 宋爱国1 |
(1. 东南大学 仪器科学与工程学院，江苏 南京 210096; 2. 江苏科技大学 电子信息学院，江苏 镇江 212003) |
 摘要：在传统的波控制器的基础上，用线性两点预测与五点二次预测凸联合的方法对主端的命令与反馈力进行在线预测。仿真结果表明，只要对时延的辨识足够精确，该方法能够在保证系统稳定的前提下一定程度上提高系统的操作性能。 |
| 关键词：遥操作；时延；波变量；线性凸联合预测 |
| 中图分类号：TP24；TP18 文献标识码：A 文章编号：1000-8829(2008)05-0071-03 |
| Time-Delayed Teleoperation Using Wave Controller with Command Prediction on the Master Side |
| ZHANG Yong-lin1,2, SONG Ai-guo1 |
| (1. School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China; 2. School of Electronics and Information Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,China) |
| Abstract：A new control scheme for time-delayed teleoperation system is proposed by combining linear-two-point-prediction and five-point-square-prediction on the master side based on traditional wave controller.Simulation results show that the scheme can guarantee the stability and improve the operation performance to a certain extent if the delay time is identified accurately enough. |
| Key words：teleoperation; time delay; wave variables; linear protruding combined prediction |
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