半张量积理论在网络遥操作系统中的应用

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陈宜滨, 缪磊, 李洪谊, 王越超. 半张量积理论在网络遥操作系统中的应用[J]. 机器人, 2012, 34(1): 50-55,64.. CHEN Yibin, MIAO Lei, LI Hongyi, WANG Yuechao. Applications of the Semi-tensor Product to the Internet-based Tele-operation Systems. ROBOT, 2012, 34(1): 50-55,64..

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摘要研究了网络遥操作系统的半张量积建模问题．网络遥操作系统中存在人机交互以及大时延事件，这使得系统中既有离散事件动态又有连续动态，当系统的离散事件动态与底层连续动态相互作用耦合强烈时，系统的性能、行为分析变得更为复杂．本文通过引入半张量积给出了一种新的半张量积混杂建模方法，它把一类特定事件系统建模为布尔系统，通过半张量积方法得到类似于离散动态系统的方程．它将系统中离散事件和连续动态相互耦合的地方表达为半张量积的形式，最后经过扩张简化得到完整统一的系统数学模型，它将有利于进一步分析、计算．本文给出的半张量积建模方法和步骤具有一定的通用性和一般性．此外本文还对基于半张量积的混杂网络遥操作系统模型进行了基于事件控制和时间控制的仿真．仿真结果表明，半张量积建模方法完全可信、可行，基于事件控制的方法在网络遥操作控制中明显优于基于时间控制的方法．

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	陈宜滨
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关键词 ：半张量积, 遥操作, 移动机器人, 事件控制, 时延

Abstract：The modeling problem of an Internet-based tele-operation system using the semi-tensor product math tools is studied.The human-computer interaction and large time delay events in the Internet-based tele-operation control system, makes the system characterized by both the discrete event dynamics and the continuous dynamics.When the continuous dynamics and underlying discrete event dynamics react in a strong coupling way,the analysis of the system's performance and behaviors becomes more complex.So a modeling approach,named semi-tensor product hybrid modeling method,is proposed which introduces semi-tensor product to solve this problem.It can model a particular class of event systems as Boolean systems,and then systems which are similar to discrete dynamic systems will be obtained by using semi tensor product method.The coupling between the discrete events dynamics and the continuous dynamics is modeled directly in the semi-tensor product form.And finally after series of augmenting and simplifying processes,a complete system mathematical model is got,which will benefit further analyses and calculations.The proposed semi-tensor product modeling method and steps have some versatility and generality.In addition,simulations of semi-tensor product hybrid-model for Internet-based tele-operation system with time-based control and event-based control are conducted,and the simulation results show that the semi-tensor product hybrid modeling approach is valid and feasible,and the event-based control is superior to time-based control in the Internet-based tele-operation.

Key words： semi-tensor product tele-operation mobile robot event-based control time delay

收稿日期: 2011-06-20 录用日期: 2012-01-04

TP182

基金资助:国家自然科学基金资助项目（60705021）

通讯作者: 陈宜滨 E-mail: cyberdstar@163.com

作者简介: 陈宜滨（1980- ），男，博士生．研究领域：控制理论与应用，网络遥操作，滤波与数字信号处理．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2012/V34/I1/50

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