Self-adaptive robust control method for nonlinear bilateral teleoperation system

Abstract

The invention discloses a self-adaptive robust control method for a nonlinear bilateral teleoperation system. For a communication time delay problem of the bilateral teleoperation system, by online estimating a non-power environmental parameter of a slave end via a radial basis function neural network model and transmitting the non-power environmental parameter back to a master end to reconstructan environmental force, the passivity of the teleoperation system as well as the balancing problems of stability and transparency is prevented. For problems of nonlinearity and uncertainty of the bilateral teleoperation system, a track generator, and a nonlinear self-adaptive robust controller based on a radial basis function neural network are respectively provided at the master and slave ends, and based on a Lyapunov theory, a self-adaptive rate for online adjusting a neural network parameter is designed, so that the system is guaranteed to have good asymptotic stability and convergence. Theself-adaptive robust control method can guarantee the global robust stability of the nonlinear bilateral teleoperation system well, implements the position tracking of a robot at the slave end, and provides a vivid force feedback for an operator.

Description

technical field [0001] The invention belongs to the field of teleoperation control, specifically an adaptive robust control method of a nonlinear bilateral teleoperation system based on a radial basis neural network, which improves the transparency of the teleoperation system while ensuring the stability of the teleoperation system sex. Background technique [0002] With the advancement of automation technology, relying on human-computer interaction teleoperation technology, that is, the operator controls the slave robot by operating the robot at the master end. Due to the characteristics of high presence and near real-time synchronous operation, it has been used in satellite maintenance. , space junk cleanup, marine development, medical health, nuclear waste treatment and nuclear power plant safety monitoring and other fields have been widely used, and as an important supporting technology in the field of robot applications, it has received great attention and research. ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose an adaptive robust control method for a nonlinear bilateral teleoperation system based on a radial basis neural network to solve the problems of stability, transparency, nonlinearity and uncertainty in traditional teleoperation systems. technical problem

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