为抵消网络可变时延对遥操作系统的影响,基于一种新的改进型Smith预估器,

构建了预估控制下的网络实时遥操作移动机器人系统. 该系统根据主、从端传感器交换的

信息,通过动态模型管理器及其算法,保证了主、从端模型的一致性. 文中根据端到端数据

包多个到达的特性,提出了新的时延缓冲器管理算法,从而更好地将可变时延转化为常时

延. 为了增强系统控制的实时性,系统中还引入了模型的虚拟显示. 长距离的网络遥操作

实验验证了文中系统和控制策略的实用性及有效性.-Estimated under the control of the network to offset the impact of the network variable delay teleoperation system, based on a new modified Smith predictor, build real-time mobile robot teleoperation system of the system according to the Lord, from the end of the sensor exchange information manager by the dynamic model and its algorithm to ensure that the primary end model of consistency in the text according to the characteristics of the end-to-end packet multiple reaches proposed delay buffer management algorithms to better to the variable delay conversion of a constant delay also introduced the virtual display of the model in order to enhance the real-time system control, system and network of long-distance teleoperation experiments verify the practicality and effectiveness of the system and the control strategy .