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

An operating system, limited time technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of instability of the slave robot system and affecting the working performance of the slave robot system.

CN110000788AActive Publication Date: 2019-07-12YANSHAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2019-07-12

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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.
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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...

Examples

Embodiment Construction

[0088] Exemplary embodiments, features, and performance aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0089] Such as figure 1 As shown, the remote operating system is also called the teleoperating system, and the remote operating system is mainly composed of five parts: the operator 1, the master robot 2, the network information transmission channel 3, the slave robot 4 and the remote external working environment 5. Its working mode can be roughly described as: the operator 1 operates the local master robot 2, and transmits information such as the position and speed of the master robot 2 to the slave robot 4 through a transmission medium such as the network, and the slave rob...