| 摘要 |
Time variation of communication delay may contribute directly to the instability of a distributed control system, such as a teleoperator system, for example, by communication paths themselves acting as sources of energy. The invention provides a distributed control system, such as a teleoperator system or a virtual reality system, that includes a master system, a slave system, and a communication system coupling the master system and the slave system. The communication system includes a bidirectional communication channel with time-varying delay, and an energy conservation filter coupled to the bidirectional communication channel for limiting a total energy provided by the communication system to the master and slave systems, thereby contributing to the overall stability of the system. The communication channel can be a data network, such as the Internet, which can exhibit significant variation in transmission delay.
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