Finite time control method for teleoperation system with consideration to triangular structure

Abstract

The invention discloses a finite time control method for a teleoperation system with the consideration to a triangular structure, and the method comprises the steps: establishing a teleoperation system model under an n-dimensional triangular structure, and defining a position synchronization error variable among a main robot I, a main robot II and a slave robot under the network communication time-varying delay; designing an auxiliary intermediate variable which does not depend on the time-varying delay precise information based on the position synchronization error variable among the main robots and the slave robot; designing a non-smooth finite time control method based on the designed auxiliary intermediate variable; establishing the precise relation between system convergence time andcontrol parameters through using the backstep recursion, dynamic surface control and Lyapunov methods. A time-varying weight variable is introduced during the consideration of the triangular structure, and the method greatly improves the flexibility between an operator I, an operator II and the slave robot. The design of the non-smooth finite time control method can provide a better synchronization precision while improving the system convergence speed. The conservative property of the system is reduced, and the actual application range of the system is enlarged.

Description

technical field [0001] The invention relates to the technical field of networked nonlinear teleoperation system control, in particular to the non-smooth finite-time control strategy design problem of a nonlinear teleoperation system with a triangular structure. 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 such as the net...

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Problems solved by technology

[0006] In order to solve the problem that the teleoperation system needs to have the synchronization error tend to zero and the control strategy is discontinuous in the infinite time under the existing control technology, the present invention provides a finite time control method considering the triangle structure of the teleoperation system

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