Finite time fault-tolerant control method used for remote operation system

Abstract

The invention discloses a finite time fault-tolerant control method used for a remote operation system. The method specifically comprises the steps that for the remote operation system with an executor failure, according to measured parameters of main and slave robots, a nominal system is obtained; on the basis of position and speed information of the main and slave robots in the nominal system, finite time is designed for the main and slave robots, and executor failures of the main and slave robots and system uncertain information are estimated in an online manner; on the basis of the measured joint position and speed information, a terminal sliding mode surface is designed; on the basis of the terminal sliding mode surface, the executor failure and the system uncertain estimation information, the finite time control strategy is designed; and the Lyapunov equation is used for building the system convergence rate and controller parameter relation. Through executor failure and system uncertain finite time online precise estimation, the compensation of the executor failure and the system uncertainty for the system influence can be successfully achieved, and the stable running of theclosed-loop remote operation system is ensured.

Description

technical field [0001] The invention belongs to the technical field of remote operating system control, and relates to a limited-time fault-tolerant control method of a remote operating system. Background technique [0002] Remote operating system, also known as teleoperating system, as a remote operating system that can maximize the respective advantages of human and mechanical systems, has broad application prospects and great application value in contemporary times. The teleoperation system is mainly composed of five parts: the operator, the master robot, the network information transmission channel, the slave robot and the remote external working environment. Its working mode can be roughly described as: the operator operates the local master robot, and transmits information such as the position and speed of the master robot to the slave robot through a transmission medium such as the network. Simulate the behavior of the master robot in the environment to complete vari...

AI Technical Summary

Problems solved by technology

The control of the teleoperation system has encountered many difficulties in the current development process. On the one hand, the master and slave robots that make up the teleoperation system are complex nonlinear systems; on the other hand, most of the slave robots in the teleoperation system work in Complex environments that humans cannot or do not have access to, such as the seabed, outer space, and dangerous rescue environments

The complex external environment that the teleoperation system is in contact with, as well as the strong nonlinearity of the system itself, have brought many challenges to the stable operation of the system.

[0003] In addition, considering that the slave robot in the teleoperation system often works in a remote dangerous environment that is inconvenient for people to touch, so the fault of the slave robot system is one of the main reasons that affect the normal operation of the system, and the actuator fault is the most common occurrence in the system. A kind of failure, which can easily cause the instability of the slave robot system and seriously affect the working performance of the slave robot system in practical applications

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