Method for controlling networked teleoperation system in consideration of limited system performance

A technology of operating system and system performance, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2018-06-29
YANSHAN UNIV
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  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to provide a control method of networked remote operating system consi

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  • Method for controlling networked teleoperation system in consideration of limited system performance
  • Method for controlling networked teleoperation system in consideration of limited system performance
  • Method for controlling networked teleoperation system in consideration of limited system performance

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Embodiment Construction

[0087] The present invention will be further described below in conjunction with accompanying drawing:

[0088] like Figure 1-3 Shown, method of the present invention comprises the following steps:

[0089] Step 1, define the master and slave position synchronization error limited variables based on the nonlinear networked teleoperation system model under the network communication delay;

[0090] Considering a teleoperation system composed of two nonlinear robot systems, according to the commonly used robot Lagrangian dynamics model, a teleoperation dynamics model based on joint space can be obtained

[0091]

[0092] Among them, q m ,q s ∈ R n is the joint displacement matrix; is the joint velocity matrix; M m (q m ), M s (q s )∈Rn×n is the positive definite inertia matrix of the system; is the vector of Coriolis force and centrifugal force; G m (q m ),G s (q s )∈R n is the moment of gravity; is the unknown friction force and bounded external disturbanc...

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Abstract

The invention discloses a method for controlling a networked teleoperation system in consideration of limited system performance. The specific method is as follow: under network communication delay, alimited master-slave position synchronization error variable is defined on the basis of a non-linear networked teleoperation system model; on the basis of the defined error variable and a neural network, a self-adaptive neural network control policy for the teleoperation system is designed; and a Lyapunov equation is utilized for giving a self-adaptive neural network and parameter adjustment rule, ensuring that set performance requirement is met while the master-slave synchronization error tends to be converged at zero. By stably operating under the limited performance of the teleoperation system, the method disclosed by the invention ensures the safety of the system, solves the problems of low system convergence speed and low precision under a conventional teleoperation control policy, overcomes the uncertainty of a system model and the influence of outside interference on system performance, and enhances the transient and stable performance and anti-interference performance of the system. Moreover, the method simplifies the process of designing a controller, so that practical application is more benefited.

Description

technical field [0001] The invention relates to the technical field of networked teleoperation system control, in particular to a control strategy design problem of a networked teleoperation system with limited system performance. Background technique [0002] A typical networked teleoperation system is mainly composed of five parts, which are the operator, the master robot located nearby, the network information transmission channel, the slave robot located at the far end, and the external environment where the slave robot is located. Its working mode can be roughly described as: the operator controls the local master robot, and transmits information such as the position and speed of the master robot to the slave robot through the network and other transmission media, and the slave robot follows the received position and speed information of the master robot. Simulate the behavior of the master robot in a specific environment to complete various tasks, and at the same time,...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨亚娜李军朋华长春
Owner YANSHAN UNIV
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