A Multilateral Adaptive Sliding Mode Control Method for Nonlinear Teleoperation System

An adaptive sliding mode and operating system technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as uncertainty and nonlinearity, and achieve stability, avoid transmission, and improve position The effect of tracking performance

Active Publication Date: 2020-09-11
ZHEJIANG UNIV
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Problems solved by technology

[0004] The present invention proposes a multilateral self-adaptive sliding mode control method of a nonlinear teleoperation system to solve the problems of stability, transparency, non-linearity, various uncertainties and multi-robot cooperative operation in the traditional multilateral teleoperation system. question

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  • A Multilateral Adaptive Sliding Mode Control Method for Nonlinear Teleoperation System
  • A Multilateral Adaptive Sliding Mode Control Method for Nonlinear Teleoperation System
  • A Multilateral Adaptive Sliding Mode Control Method for Nonlinear Teleoperation System

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[0019] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0020] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0021] Implementation technical scheme of the present invention is:

[0022] 1) Establish the dynamic model of the nonlinear multilateral teleoperation system, specifically:

[0023] 1-1) Establish a dynamic model of multi-master robot, multi-slave robot and environment interacti...

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Abstract

The invention discloses a multilateral adaptive sliding-mode control method for a nonlinear teleoperation system. Based on a radial basis function neural network, the method estimates the non-power environment parameters of slave environmental dynamics to transmit to a main end to perform main end environmental force reconstruction through a communication channel; for the nonlinear and various uncertainty problems of master-slave robots, the method respectively designs trajectory builders on the main and slave ends and a radial basis function neural network based nonlinear adaptive sliding-mode controller and also designs the online training adaptive rate of a nonlinear function including system modeling information, so that the stability and accurate position tracking performance of a system can be guaranteed; and for signal communication problems between multiple robots, the controlling force distribution of multiple slave robots can be realized by designing a collaborative force allocation algorithm, and therefore, the collaborative operation performance of the multiple robots on work tasks can be enhanced.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to a multilateral adaptive sliding mode control method for a nonlinear teleoperation system, which can simultaneously ensure the stability and transparency of the nonlinear teleoperation system and the coordinated operation of multiple master-slave robots . Background technique [0002] With the development of complex and fine-grained tasks, teleoperation technology relying on human-computer interaction has been continuously used in industrial environments, especially the development of multilateral teleoperation technology relying on multi-master-slave The operator operates multiple master robots at the master end to realize the cooperative control of multiple slave robots and complete complex or fine tasks. It is an important supporting technology in the application field and has been widely studied. [0003] However, the transmission of signals in the communicati...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈正黄方昊宋伟朱世强
Owner ZHEJIANG UNIV
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