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Synchronization control methods for a class of tele-operation system with stochastically time-varying communication delays are surveyed, aiming at the existing communication delays, packet loss, and so on, during the ground-based tele-operation of unmanned aerial vehicles. A control model for this class of master-slave tele-operation system with communication time delays is established. Then, the time delays within the remote control communication network are depicted by a time-varying-delay function, of which the modal parameters are transferred based on an ergodic Markov process. After that, the synchronization control problem of the system is solved by stability analysis of the mean square within the framework of the stochastic systems. Finally, the semi-physical simulation platforms of an unmanned micro-quadrotor are carried out to verify the methods presented in this paper; and the elementary simulation results show that the loci of the master-slave sides are all bounded through designing the controllers by the feedback linearization separately in the methods.
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Keywords:
- stochastic systems /
- time-varying delay /
- unmanned aerial vehicle /
- synchronization control
[1] Ollero A, Merino L 2004 Annu. Rev. Control 28 167
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[9] Zhang W M, Li X, Liu S, Li Y Q, Wang B H 2013 Acta Phys. Sin. 62 094502 (in Chinese) [张文明, 李雪, 刘爽, 李雅倩, 王博华 2013 62 094502]
[10] Zhang B, Li H Y, Tang G J 2013 Acta Phys. Sin. 62 029601 (in Chinese) [张波, 李海洋, 唐国金 2013 62 029601]
[11] Rakkiyappan R, Sakthivel N, Lakshmanan S 2014 Chin. Phys. B 23 020205
[12] Yang D S, Liu Z W, Zhao Y, Liu Z B 2012 Chin. Phys. B 21 040503
[13] Park M J, Lee S M, Son J W, Kwon O M, Cha E J 2013 Chin. Phys. B 22 070506
[14] Cairano S D, Bemporad A, Júlvez J 2009 Automatica 45 1243
[15] Yang Y H, Fu M Y, Zhang H S 2013 Acta Automat. Sin. 39 237 (in Chinese) [杨园华, 付敏跃, 张焕水 2013 自动化学报 39 237]
[16] Chen N, Shen X Y, Gui W H, Yang C H, Wang L Y 2011 Control Theory Appl. 28 1099 (in Chinese) [陈宁, 沈晓瑜, 桂卫华, 阳春华, 王凌云 2011 控制理论与应用 28 1099]
[17] Liu C J, Chen W H, Andrews J 2011 Robot. Auton. Syst. 59 571
[18] Han Q L 2005 Automatica 41 2171
[19] Liu Y R, Wang Z D, Liang J L, Liu X H 2009 IEEE Trans. Neural. Networ. 20 1102
[20] Xu S Y, Chen T W, Lam J 2003 IEEE Trans. Automat. Control 48 900
[21] Kang Y, Li Z J, Shang W K, Xi H S 2012 Int. J. Innov. Comput. Inform. Control 8 61
[22] Xie L H 1996 Int. J. Control 63 741
[23] Kang Y, Li Z J, Shang W K, Xi H S 2010 IET Control Theory Appl. 4 2129
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[1] Ollero A, Merino L 2004 Annu. Rev. Control 28 167
[2] Slawomir G, Giorgio G, Wolfram B 2012 IEEE Trans. Robot. 28 90
[3] Niu Y F, Shen L C 2006 J. Electron. Inform. Technol. 28 1026 (in Chinese) [牛轶峰, 沈林成 2006 电子与信息学报 28 1026]
[4] Niethammer U, James M R, Rothmund S, Travelletti J, Joswig M 2012 Eng. Geol. 128 2
[5] Gerasimos G R 2012 Robot. Auton. Syst. 60 978
[6] Sun H B, Zhou R, Zou L, Ding Q X 2011 Acta Aeronaut- Astronaut. Sin. 32 299 (in Chinese) [孙海波, 周锐, 邹丽, 丁全心 2011 航空学报 32 299]
[7] Zhou J Y, Jiang Z C, Tang G J 2012 Sci. China G: Phys. Mech. Tech. 55 339
[8] Wen S H, Yuan J Y 2010 Acta Phys. Sin. 59 1615 (in Chinese) [温淑焕, 袁俊英 2010 59 1615]
[9] Zhang W M, Li X, Liu S, Li Y Q, Wang B H 2013 Acta Phys. Sin. 62 094502 (in Chinese) [张文明, 李雪, 刘爽, 李雅倩, 王博华 2013 62 094502]
[10] Zhang B, Li H Y, Tang G J 2013 Acta Phys. Sin. 62 029601 (in Chinese) [张波, 李海洋, 唐国金 2013 62 029601]
[11] Rakkiyappan R, Sakthivel N, Lakshmanan S 2014 Chin. Phys. B 23 020205
[12] Yang D S, Liu Z W, Zhao Y, Liu Z B 2012 Chin. Phys. B 21 040503
[13] Park M J, Lee S M, Son J W, Kwon O M, Cha E J 2013 Chin. Phys. B 22 070506
[14] Cairano S D, Bemporad A, Júlvez J 2009 Automatica 45 1243
[15] Yang Y H, Fu M Y, Zhang H S 2013 Acta Automat. Sin. 39 237 (in Chinese) [杨园华, 付敏跃, 张焕水 2013 自动化学报 39 237]
[16] Chen N, Shen X Y, Gui W H, Yang C H, Wang L Y 2011 Control Theory Appl. 28 1099 (in Chinese) [陈宁, 沈晓瑜, 桂卫华, 阳春华, 王凌云 2011 控制理论与应用 28 1099]
[17] Liu C J, Chen W H, Andrews J 2011 Robot. Auton. Syst. 59 571
[18] Han Q L 2005 Automatica 41 2171
[19] Liu Y R, Wang Z D, Liang J L, Liu X H 2009 IEEE Trans. Neural. Networ. 20 1102
[20] Xu S Y, Chen T W, Lam J 2003 IEEE Trans. Automat. Control 48 900
[21] Kang Y, Li Z J, Shang W K, Xi H S 2012 Int. J. Innov. Comput. Inform. Control 8 61
[22] Xie L H 1996 Int. J. Control 63 741
[23] Kang Y, Li Z J, Shang W K, Xi H S 2010 IET Control Theory Appl. 4 2129
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