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

A teleoperated robot, terminal sliding mode technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the system uncertainty, the initial state of the system is not easy to obtain, and the calculation of the convergence time depends on the initial system of the system. status, etc.
CN105319972AActive Publication Date: 2016-02-10YANSHAN UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
YANSHAN UNIV
Publication Date
2016-02-10

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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.
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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...

Claims

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