Remote operating robot fixed time control method based on rapid terminal sliding mode

Abstract

The invention relates to the technical field of remote operating robot synchronous control, specifically discloses a remote operating robot fixed time control method based on a rapid terminal sliding mode. The method includes: selecting a master robot and a slave robot to form a remote operating system, measuring system parameters of the master robot and the slave robot respectively, measuring position information of the master robot and the slave robot on line, obtaining speed information of the master robot and the slave robot, designing a rapid terminal sliding mode surface, based on the designed rapid terminal sliding mode surface, using the system parameters of the main robot and the slave robot to design a self-adaptive fixed time controller, and using a Lyapunov equation to provide a relational expression between a parameter self-adaptive law, controller parameters, sliding mode surface parameters and system convergence time, thereby determining the controller parameters and the sliding mode surface parameters according to requirements of practical application for system convergence time and a relational expression between the system parameters and the system convergence time. The remote operating robot fixed time control method based on the rapid terminal sliding mode makes up for the defects in control speed and control accuracy of an existing remote operating robot system control method.

Description

technical field [0001] The invention relates to the technical field of synchronous control of a teleoperated robot, in particular to a fixed-time control method of a teleoperated robot based on a fast terminal sliding mode. Background technique [0002] The teleoperation system is mainly composed of the operator, the master robot, the network transmission channel, the slave robot and the remote external environment. Its working mode is roughly as follows: the operator operates the local master robot, and transmits motion instructions to the slave robot through the computer network and other transmission media, and the slave robot simulates the behavior of the master robot in a specific environment according to the received command to complete various tasks. At the same time, the working status of the slave robot will be fed back to the operator, so that the operator can make correct decisions based on the status of the slave robot. The control of the teleoperation system fa...

AI Technical Summary

Problems solved by technology

However, the typical terminal sliding mode has a singular value problem, and the calculation of its convergence time depends on the initial state of the system

In practice, the initial state of the system is often not easy to obtain

This makes the finite time control method difficult to be widely used in practice

In addition, it has always been a difficult point to consider the uncertainty of the system in the terminal sliding mode control.

Few relevant literatures analyze the finite-time control problem of robotic systems in the presence of system uncertainty

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