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Contragradience limited time bilateral remote operation control method and computer readable storage medium

A remote operation control, limited time technology, applied in the field of control, can solve problems such as zero tracking error

Active Publication Date: 2017-12-08
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

[0006] The main purpose of the present invention is based on the HJI theory, proposes a kind of backstep limited time bilateral teleoperation control method, this control method can realize that the relative position error and speed error of the master-slave robot mechanical arm converge within a limited time and the convergence time can be shortened. control to solve the problem that the existing technology can make the tracking error close to zero for a long time

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  • Contragradience limited time bilateral remote operation control method and computer readable storage medium
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  • Contragradience limited time bilateral remote operation control method and computer readable storage medium

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0027] The specific embodiment of the present invention provides a backstep limited-time bilateral teleoperation control method based on the HJI (Hamilton-Jacobi Inequality) theory. The position and velocity of the arm are changed in coordination with the master manipulator, and the relative position error and velocity error of the master and slave manipulators converge in a finite time, and at the same time, the convergence time is estimated.

[0028] Among them, the HJI theory is described as follows:

[0029] For any given positive real number γ, if there is a positive definite function V, the derivative of V satisfies

[0030]

[0031] Then J≤γ. in, The L2 gain of the robot system is controlled by bilateral teleoperation. The smaller the J value, the stronger the robustness of the system, which represents the interference suppressio...

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Abstract

The present invention relates to a contragradience limited time bilateral remote operation control method and a computer readable storage medium. The method comprises the steps of S1 establishing a bilateral remote operation dynamical model not considering a gravity item for a bilateral remote operation control robot system of n degrees of freedom; executing the steps S2 to S6 from a master terminal and a slave terminal respectively; S2 extracting the joint position variables of a robot, carrying out the variable substitution and establishing a state variable equation; defining an undetermined virtual switching controller in the state variable equation; S3 extracting a to-be-stabilized system based on the state variable equation; S4 selecting a first Lyapunov function to stabilize the to-be-stabilized system; S5 carrying out the derivation on the first Lyapunov function and defining a nonsingular integral terminal sliding mode surface according to a derivation result; S6 selecting a second Lyapunov function to calculate the convergence time of a state variable at a sliding stage of the sliding mode surface; S7 constructing a bilateral controller to enable a non-sliding mode to reach the nonsingular integral terminal sliding mode surface within the limited time; estimating the upper limit of the convergence time of the state variable.

Description

technical field [0001] The invention relates to the technical field of control, in particular to a backstep limited-time bilateral teleoperation control method based on the HJI theory and a computer-readable storage medium. Background technique [0002] Robot teleoperation technology refers to the technology for operators to monitor and control remote robots to complete various tasks. At present, limited by the development level of artificial intelligence, robots are not good enough to complete tasks autonomously when faced with most complex tasks. In order to ensure the completion of the task, teleoperation is indispensable in the robot control mode. In addition, remote operation technology is widely used in some environments where humans cannot touch or even endanger human health or life safety. [0003] Teleoperation technology has three control modes: predictive control, teleoperation programming technology and bilateral control. In the bilateral control method, both ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 梁斌张依曼王子威陈章王学谦
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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