Synchronization control for a class of tele-operation system with stochastically time-varying communication delays

Abstract

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.