中文摘要：

遥操作系统的通信环节中不可避免地存在通信时延导致系统不稳定和操作性能降低等问题,为了减小甚至消除时延的影响,针对单自由度机械臂遥操作系统,提出结合自抗扰控制方法和Smith预估器的新型时延补偿和控制方法。在从机械臂端采用PID控制器实现位置跟踪控制,在主机械臂端采用带Smith预估器的自抗扰控制器,实现时延补偿和对操作力的跟踪,最终保证整个闭环系统的稳定性。最后通过仿真和频域分析验证了所设计控制器的有效性。

英文摘要：

This paper investigates the delay compensation and control problem for a class of teleoperation systems.Network-induced delays are usually inevitable in teleoperation systems,which may lead to instability and performance degration of the systems. In order to reduce and even eliminate the effect of the time delay on system performance,a novel delay compensation method combining active disturbance rejection controller（ ADRC） and Smith predictor is proposed in this paper for manipulators with a single degree of freedom. The PID controller is adopted for position tracking control in the slave manipulator,while in the master side,the ADRC controller with Smith predictor is applied for delay compensation and force tracking control as well as guaranteeing stability of the overall closed-loop system.Finally,the simulations and frequency domain analysis are provided to verify the effectiveness of the proposed method.