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Model predictive control for space teleoperation systems based on a mixed- H2/H∞ approach
Yang YH(杨艳华); Li HY(李洪谊); Chen Y(陈洋); Yi, Jiarui
作者部门机器人学研究室
关键词Space Teleoperation Predictive Control Large Time-varying Delay Lmi H2∕h∞
发表期刊Journal of Aerospace Engineering
ISSN0893-1321
2015
卷号28期号:5页码:1-9
收录类别SCI ; EI
EI收录号20153401197015
WOS记录号WOS:000359936100018
产权排序1
摘要In this paper a novel model predictive control (MPC) approach is proposed based on mixed-H2/H∞ control for space teleoperation systems with unknown, large time-varying delays and input constraints. This novel approach only measures the online delay; it does not presume the delay bounds. In addition, H∞ control has been incorporated into the original MPC, which compensates for large time-varying delays, handles input constraints, and provides the desired tracking performance. First, the space teleoperation system is built based on a type of control architecture and then converted into a discrete state-space equation. Next, a state-feedback controller is designed based on linear matrix inequality (LMI). Meanwhile, the corresponding sufficient conditions are derived for the controller, enabling the closed-loop system to be asymptotically stable and guaranteeing the prescribed mixed-H2/H∞ performance under input constraints. The parameters of the controller are calculated online by updating the mixed-H2/H∞ optimizing problem during each interval. Finally, comparative simulations reveal that the proposed approach can achieve better performance in terms of tracking ability than that of traditional MPC. Moreover, it can ensure the input constraints in the unknown, large time-varying delay scenario whereas the original H∞ control approach cannot guarantee performance.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Aerospace ; Engineering, Civil
关键词[WOS]COMMUNICATION TIME-DELAY ; H-INFINITY CONTROL ; TRANSPARENT TELEOPERATION ; BILATERAL TELEOPERATION ; MU-SYNTHESIS
WOS研究方向Engineering
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/16901
专题机器人学研究室
通讯作者Yang YH(杨艳华)
作者单位1.School of Information Science and Engineering, Wuhan Univ. of Science and Technology, Wuhan, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Dept. of Electrical and Computer Engineering, Univ. of Texas at El Paso, El Paso, TX, United States
推荐引用方式
GB/T 7714
Yang YH,Li HY,Chen Y,et al. Model predictive control for space teleoperation systems based on a mixed- H2/H∞ approach[J]. Journal of Aerospace Engineering,2015,28(5):1-9.
APA Yang YH,Li HY,Chen Y,&Yi, Jiarui.(2015).Model predictive control for space teleoperation systems based on a mixed- H2/H∞ approach.Journal of Aerospace Engineering,28(5),1-9.
MLA Yang YH,et al."Model predictive control for space teleoperation systems based on a mixed- H2/H∞ approach".Journal of Aerospace Engineering 28.5(2015):1-9.
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