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Nonlinear teleoperation bilateral control method based on adaptive fuzzy inversion

A technology of adaptive fuzzy and control methods, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as nonlinearity, model uncertainty, parameter uncertainty, etc.

Active Publication Date: 2018-12-25
ZHEJIANG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to propose a non-linear teleoperation bilateral control method based on adaptive fuzzy inversion to solve technical problems such as stability, nonlinearity, parameter uncertainty and model uncertainty of traditional teleoperation systems

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  • Nonlinear teleoperation bilateral control method based on adaptive fuzzy inversion
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  • Nonlinear teleoperation bilateral control method based on adaptive fuzzy inversion

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Embodiment Construction

[0076] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0077] Implementation technical scheme of the present invention is:

[0078] (1) Establishment of the nonlinear dynamic model of the bilateral teleoperation system

[0079]

[0080] Among them, i=m, s represents the master or slave robotic arm in the bilateral teleoperation system, j=h, e represents the operator or the external environment, q i , Indicates the position, velocity and accel...

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Abstract

The invention discloses a nonlinear teleoperation bilateral control method based on adaptive fuzzy inversion. According to the nonlinear teleoperation bilateral control method, a signal optimization function is designed at the slave end, thus a position signal transmitted by a master end through a communication channel is optimized, and a corresponding speed and acceleration signal is generated atthe slave end; through fuzz estimation of non-power environment parameters at the slave end and reconstitution of environmental force of the master end, transmission of the power signal at the communication channel is avoided, and the problem of balance of passivity, stability and transparency of a traditional teleoperation system is avoided; aiming at the problems of nonlinearity, model uncertainty and parameter uncertainty of a bilateral teleoperation system, a nonlinear controller based on inversion is provided by the invention, model information of a fuzzy system approximation system is adopted, the adaptive rate for on-line adjusting the fuzzy system parameters is designed based on a Lyapunov theory, and it is ensured that the system has the good stability and convergence.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to an adaptive fuzzy inversion control method for a time-delay nonlinear bilateral teleoperation system, which improves the transparency of the teleoperation system while ensuring the overall stability of the teleoperation system. Background technique [0002] With the continuous development of robot technology, remote operation technology relying on human-computer interaction has played an important role in deep sea operations, medical operations, virtual reality and other fields. In particular, the bilateral teleoperation system with force feedback improves the transparency of the system and enhances the operator's sense of presence. However, for the nonlinear bilateral teleoperation system, there are problems such as communication delay, nonlinearity, parameter uncertainty and model uncertainty, which affect the stability and transparency of the system. [0003] B...

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Application Information

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IPC IPC(8): G05B13/02
CPCG05B13/0275
Inventor 陈正黄方昊宋伟王滔朱世强
Owner ZHEJIANG UNIV
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