Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Continuous finite time control method for teleoperation system under time-varying delay

A technology with limited time and operating system, applied in adaptive control, general control system, control/regulation system, etc., can solve the problem of non-continuous control strategy

Inactive Publication Date: 2018-09-18
YANSHAN UNIV
View PDF9 Cites 10 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the synchronization error tends to zero and the control strategy is discontinuous in the infinite time of the teleoperation system with asymmetric time-varying delay under the existing control technology, and provides a simple and efficient finite-time control method

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Continuous finite time control method for teleoperation system under time-varying delay
  • Continuous finite time control method for teleoperation system under time-varying delay
  • Continuous finite time control method for teleoperation system under time-varying delay

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0095] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0096] A continuous finite-time control method of the teleoperation system under time-varying time-delay in this embodiment includes the following steps:

[0097] S1. Introduce a new intermediate variable to split the teleoperation system into two subsystems, define the system without time-varying delay as the first subsystem, and define the system with time-varying delay information as the second subsystem; and placing the system state of the first subsystem in the second subsystem;

[0098]Since the 1990s, with the rapid development of computer network, it has the characteristics of information exchange, equipment sharing, flexibility and high efficiency, making it gradually become the informat...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a continuous finite time control method for a teleoperation system under time-varying delay, and the contents of the method are that the method comprises the steps: introducinga new intermediate variable to split the teleoperation system into two subsystems, and designing a finite time control strategy based on a power integration method for the first subsystem to ensure that the synchronization error of the first subsystem tends to a zero point in the finite time; performing the strict proving of the finite time stability and finite time synchronization performance ofthe first subsystem based on the Lyapunov theory, and building the relationship between control parameters and system convergence time; designing a finite time controller for the second subsystem with delay information; building the relation between the infinite time convergence of the second subsystem and the controller parameters and time delay derivative upper bound based on the weak finite time input-to-state stability, weak finite time input-to-output stability and finite time small gain theorem. Compared with the general P+d, PD+d and direct force feedback methods, the method has fasterconvergence speed and higher convergence precision.

Description

technical field [0001] The invention relates to the technical field of networked nonlinear teleoperation system control, in particular to the problem of continuous finite time control strategy design of nonlinear teleoperation system under asymmetric time-varying time delay. Background technique [0002] As a remote operating system that can maximize the respective advantages of human and mechanical systems, networked teleoperating system has attracted extensive attention from researchers in recent years. A typical networked teleoperation system is mainly composed of five parts, which are the operator, the master robot, the network information transmission channel, the slave robot, 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 to make it move, and transmits information such as the position and speed of the master robot to the slave robot through a transmission medium s...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨亚娜李军朋华长春
Owner YANSHAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com