Neural adaptive fixed time control method of complex teleoperation technology

A fixed time, control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of uncertain parameters of the master-slave robot, communication signal time delay, and affecting the realization of the goal of teleoperation technology.

Active Publication Date: 2020-07-17
CHINA UNIV OF GEOSCIENCES (WUHAN)
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Problems solved by technology

[0003] However, in the practical application of teleoperation technology, there will be various problems restricting its development, the most notable of which is that the parameter uncertainty of the master-slave robot itself and the external disturbances in the teleoperation technology will affect the teleoperation. The realization of the goal by the technology will also increase the control cost of the teleoperation technology; on the other hand, the time lag of the communication signal of the communication channel between the master and slave

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  • Neural adaptive fixed time control method of complex teleoperation technology
  • Neural adaptive fixed time control method of complex teleoperation technology
  • Neural adaptive fixed time control method of complex teleoperation technology

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Embodiment Construction

[0079] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0080] Embodiments of the present invention provide a neural adaptive fixed-time control method for complex teleoperation technology; provide fixed-time tracking of the HIL teleoperation system considering parameter uncertainty and external disturbances and time delays, and by selecting an appropriate The control gain and neural adaptive rate parameters meet the control cost requirements of the master-slave robot.

[0081] Please refer to figure 1 , figure 1 It is a flow chart of a neuro-adaptive fixed-time control method for complex teleoperation technology in an embodiment of the present invention, specifically including the following steps:

[0082] S101: Carry out kinematics and dynamics modeling for the master-sl...

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Abstract

The invention provides a neural adaptive fixed time control method of a complex teleoperation technology, which comprises the following steps: firstly, carrying out kinematics and dynamics modeling onmaster and slave robots of a teleoperation system, and setting a tracking error; then establishing communication between a control framework of an operator of the master robot influencing the whole system to be operated and the master robot and the slave robot; and finally, designing a neural adaptive fixed time controller, and combining the kinematics and dynamics models to realize fixed time stability of mutual position and trajectory tracking of the master and slave robots in the teleoperation system. The invention has the beneficial effects that the method is closer to reality; the methodhas more engineering significance, considers the unavoidable communication time delay between the master robot and the slave robot, and considers that the time delay is more realistic mixed time delay; according to the method, fixed time tracking is realized, so that the method provided by the invention has stronger engineering demand adaptability, and the neural network is applied, so that the control cost and price are reduced.

Description

technical field [0001] The invention relates to the technical field of industrial control, in particular to a neural self-adaptive fixed-time control method of complex teleoperation technology. Background technique [0002] Teleoperation is a multidisciplinary interdisciplinary subject, which combines mechanics, electronics, information theory, automation theory and other fields. It is worth noting that robotics was born out of the combination of two technologies - teleoperation and CNC milling. With the rapid development of science and technology and industry, robots and teleoperation technologies have also developed rapidly. Due to the comprehensive development of industrial automation and the improvement of science and technology, the rapid update and progress of remote operation technology is meeting the current needs of industrial automation, and can also replace humans to complete high-risk and difficult tasks. [0003] However, in the practical application of teleop...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 徐景喆葛明峰丁腾飞
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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