中文摘要：

针对无人机地面遥操作中存在的通信延时、丢包等实际情况，研究了一类具有随机时变通信时滞的遥操作系统的同步控制问题．建立了这种具有通信时滞的主、从遥操作系统的控制模型；采用基于Markov跳变模态参数的时变时滞函数来刻画遥控通信网络中的时滞，在随机系统框架下，通过均方意义下的稳定性分析，求解系统的同步控制问题．利用一个微小型四旋翼无人飞行器半物理仿真平台对本文方法进行验证，初步仿真结果表明，通过反馈线性化分别设计控制器，可以保证主、从端运动轨迹的有界性．

英文摘要：

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.