A Fuzzy Logic-Based Adaptive Multilateral Control Method for Teleoperation System

Abstract

The invention discloses a self-adaptive multilateral control method based on fuzzy logic for a nonlinear remote operating system. According to the method, non-power parameters of nonlinear environmental dynamics are estimated based on a fuzzy logic function, and the non-power parameters are transmitted back to a main terminal through a communication channel with time delay for reconstitution of main-terminal environmental forces. For various uncertain problems existing on a master robot and slave robots, the method is based on a fuzzy logic system, and the parameters of the nonlinear functioncontaining unknown system model information is online updated by designing the self-adaptive rate; for the position tracking property of the system, according to the nonlinear self-adaptive multilateral control method based on the fuzzy logic system, when communication delay exists in the system, a track signal of the master robot is accurately tracked through the slave robots; and for the operation force distribution problem during collaborative operation of multiple robots, a collaborative control algorithm of multiple robots is designed, and then operation force distribution of multiple slave robots is achieved.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to a fuzzy-logic-based self-adaptive multilateral control method for a teleoperation system, while ensuring the stability and transparency of a non-linear multilateral teleoperation system and the collaborative operation performance of multi-slave robots. Background technique [0002] With the continuous development of electromechanical technology, the research of robot system has become a hot topic at this stage. Among them, the teleoperation robot technology relying on human-computer interaction has made staged progress, and has a wide range of applications in military, industrial and medical fields. Applications. [0003] However, with the development of complex and fine-grained tasks, it is necessary to have multiple robots with multiple degrees of freedom in the working environment for collaborative work. Such robots often have nonlinearities and various uncertai...

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Problems solved by technology

[0004] The purpose of the present invention is to propose a fuzzy logic-based teleoperation system adaptive multilateral control method to solve the stability and transparency trade-offs in the traditional multilateral teleoperation system, the nonlinearity and various uncertainties of the master-slave robot, And technical issues such as multi-robot collaborative operations

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