摘要：近几年，由于低成本电线以及无线数据传输和远程监控及控制的发展，网络控制系统和视觉伺服系统获得了大量关注。而且，随着远程控制科技的进步，网络控制系统和视觉伺服系统被更多的应用到工业生产，建筑自动化以及远程视频通话网络等多个领域。然而，网络控制系统和视觉伺服系统比传统的点对点控制系统的设计要复杂很多。主要是由于信号处理、编码、解码和传输过程引起的延迟会引起系统性能的退化，甚至可能导致系统的不稳定。为了避免这些问题，需要对时间延迟进行补偿。

这篇论文为存在采样和延时输出的线性系统提出了一类新的状态观测器。这类观测器由被称为间断连续系统的一类特殊的混杂系统得到而且很容易实现。最后通过在一个网络视觉伺服系统中的实验仿真观察间断连续状态观测器的性能。

关键词  网络视觉伺服系统 间断连续系统 采样和延时输出 间断连续状态观测器

毕业设计说明书外文摘要

Title   Observers for systems with sampled and delayed output and the application in networked visual servoing systems            

Abstract：In recent years, low-cost wired and wireless data transmissions and remote monitoring and controlling have developed a lot, which caused much interest in networked control systems and visual servoing systems. What’s more, networked control systems and visual servoing systems are increasingly applied in industrial production, remote video communicating networks and building automation with the development of embedded control technologies. However, the design of networked control systems and visual servoing systems are much more complicated campared to traditional point-to-point control systems. The problems mainly caused by time delay which comes from the signal processing, coding, decoding and transmission, which degrade the system’s performance and cause instability. To avoid these problems, we have to take steps to compensate the delay effects.

   This paper presents a new class of state observers for linear systems with sampled and delayed output measurements. The observers are derived from a particular class of hybrid systems, which is called piecewise-continuous systems, and can be easily implemented. At last we apply the designed observer to an experimental networked visual servoing platform and derive the performance of the presented observer via MATLAB/SIMULINK.

Keywords: networked visual servoing systems; piecewise-continuous systems; sampled and delayed output measurements; piecewise-continuous observer

目   次

 1  绪论 1

 1.1  研究的背景和意义 1

 1.2  针对采样延时输出系统的控制方法的发展现状 3

 1.3  本文的研究思路 4

 1.4  本文主要内容及章节安排 5

 2  问题陈述 6

 3  准备工作 7

 3.1  混杂系统 7

 3.2  间断连续系统 7

 3.3  数据采样 9

 4  间断连续状态观测器 10

 4.1  间断连续状态观测器算法 11

 4.2  间断连续状态观测器的稳定性分析 15

 5  PCO应用于网络视觉伺服系统的仿真研究 17

 5.1  模块搭建 17

 5.2  无测量噪声时的状态估计 18

 5.3  测量噪声存在时的状态估计 22

 5.4  时变时延情况下的状态估计 27

 5.5  本章小结 28

 结论 30

 致谢 32

 参考文献 33

1  绪论

1.1  研究的背景和意义

近几年，由于低成本电线以及无线数据传输和远程监控及控制的发展，网络控制系统和视觉伺服系统获得了大量关注。而且，随着远程控制科技的进步，网络控制系统和视觉伺服系统被更多的应用到工业生产，建筑自动化以及远程视频通话网络等多个领域。