Adaptive fuzzy teleoperation control method based on disturbance observer

A disturbance observer, adaptive fuzzy technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as nonlinearity, complexity, system performance impact, etc., to achieve the effect of improving stability

Active Publication Date: 2019-02-19
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] The performance indicators of the teleoperation system mainly include stability and transparency, and the effective control of the teleoperation system faces many challenges. On the one hand, due to the complexity, nonlinearity and coupling between the master and s...

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  • Adaptive fuzzy teleoperation control method based on disturbance observer
  • Adaptive fuzzy teleoperation control method based on disturbance observer
  • Adaptive fuzzy teleoperation control method based on disturbance observer

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Embodiment Construction

[0091] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are used to illustrate the present invention, and do not limit the application of the present invention.

[0092] The adaptive fuzzy teleoperation control method based on the disturbance observer mainly includes the following operations: S1: Establish the dynamic model and kinematics mathematical model of the teleoperation system, S2: Aim at the unknown external disturbance at the slave end, add Disturbance observer, S3: Aiming at the uncertainty of the teleoperation system, design master-slave adaptive fuzzy controllers, estimate uncertain parameters online, and realize the stability and synchronization of master-slave operations.

[0093] The specific implementation steps are as follows:

[0094] The first step: establish a dynamic model for the master and slave manipulators,

[0095] In the case of mutual contact with the ...

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Abstract

The invention discloses an adaptive fuzzy teleportation control method based on a disturbance observer, comprising the following steps: step S1: establishing a dynamic model for a master arm and a slave manipulator of a bilateral teleportation system; step S2: designing a corresponding disturbance observer for unknown interference from a slave edge; step S3: for the kinematics and dynamics uncertainty of the manipulator, estimating and compensating the manipulator by using a fuzzy adaptive controller, and designing an adaptive fuzzy controller based on the disturbance observer. The invention provides a design method of an external disturbance observer. At the same time, for the kinematics and dynamics uncertainty of the master and slave ends, the present invention utilizes the fuzzy adaptive control method to counteract the influence of uncertainty on the stability and synchronization performance of the system. Moreover, the slave end controller is combined with the disturbance observer based on this design to further eliminate the influence of external unknown interference on the system.

Description

technical field [0001] The invention relates to the technical field of teleoperation robot control, and relates to an adaptive fuzzy control method of a bilateral teleoperation system based on an interference observer. Background technique [0002] Teleoperation technology realizes the operation control of remote tasks in dangerous and harmful environments by combining human initiative and robot adaptability. [0003] The bilateral teleoperation human operating system is mainly composed of five parts: the operator, the master and its controller, the communication network, the slave and its controller, and the external environment. Since the robot is in the environment where the task will be performed, such as a remote place, or a dangerous environment that is inaccessible to humans. Under master-slave teleoperation control, the human operator manipulates the master robot to perform a certain task or perform a certain action, transmits the action instruction to the slave rob...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 缪晶晶张保勇
Owner NANJING UNIV OF SCI & TECH
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