Bilateral controller design for the teleoperation system is studied in this paper based on a motion prediction approach. To compensate the known long time-varying delays, novel predictors are presented to reconstruct the positions and velocities of robots on both sides through using the delayed measurements. The proposed predictors consist of several sub-predictors in a cascade structure, each of which is to predict the states of the previous one. The estimations of the actual states can be obtained from the last sub-predictor. New prediction horizons of each sub-observers are designed to cope with the time-varying fractions of the time delay. Then through applying the predicted results, bilateral predictive controller is designed for the teleoperation. The errors of both position tracking and prediction can converge into the bounded regions under several sufficient conditions of the control gains, which are obtained by using the Lyapunov–Krasovskii approach. The effective capacity of the presented method can be verified through comparative simulations.

本文基于运动预测方法研究了遥操作系统的双边控制器设计。为了补偿已知的长时变延迟，提出了新的预测器，通过使用延迟测量来重建两侧机器人的位置和速度。所提出的预测器由级联结构中的几个子预测器组成，每个子预测器都用于预测前一个的状态。实际状态的估计可以从最后一个子预测器中获得。每个子观察者的新预测范围旨在处理时间延迟的时变部分。然后通过应用预测结果，设计了用于遥操作的双边预测控制器。在控制增益的几个充分条件下，位置跟踪和预测的误差都可以收敛到有界区域，这是通过使用 Lyapunov-Krasovskii 方法获得的。通过比较模拟可以验证所提出方法的有效容量。