Four-channel teleoperation bilateral control method based on disturbance observer

Abstract

The invention discloses a four-channel teleoperation bilateral control method based on a disturbance observer. By establishing a nonlinear system dynamics model of a bilateral teleoperation system, aglobally stable nonlinear sliding mode controller design method based on the perturbation observer is proposed to solve the nonlinearity, uncertainty, external interference and other major issues of the teleoperation system. For the nonlinear problem of the bilateral teleoperation system, a four-channel structure suitable for the nonlinear bilateral teleoperation system is designed, through transmission of the main end position, the operating torque of an operator, the slave position and the environmental working torque signal among the communication channels, the better system transparency isobtained; and for the uncertainty and external disturbance of the bilateral teleoperation system, ideal trajectory generators at the main end and the slave end and the nonlinear sliding mode controller based on the disturbance observer are designed, and the global stability of the system is guaranteed based on the Lyapunov theory.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to a four-channel teleoperation bilateral control method based on a disturbance observer, aiming at improving the transparency of a nonlinear teleoperation system. Background technique [0002] With the development of automation and robot technology, relying on the teleoperation technology of human-computer interaction, that is, the operator can operate the master robot to realize the motion control of the slave robot and realize remote operation. In view of the characteristics of high presence and near-real-time synchronous operation of teleoperation technology, it has broad application prospects in space exploration, underwater operations, nuclear environment monitoring, remote surgery and other fields. [0003] Transparency has been widely studied as an important index of teleoperation system. Among them, the four-channel structure is an effective method to improv...

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Problems solved by technology

[0004] The purpose of the present invention is to propose a four-channel teleoperation bilateral control method based on a disturbance observer to solve technical problems such as transparency, nonlinearity and uncertainty in traditional teleoperation systems

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