Neural adaptive fixed time control method of complex teleoperation technology

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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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 robots in the teleoperation technology, but these problems are unavoidable in actual engineering of

[0004] In addition, teleoperation technology generally executes multiple tasks continuously. One problem is that if the person using this technology can predict the completion time of each task in advance, it will inevitably reduce the control cost of teleoperation technology, and For practical engineering applications, the teleoperation technology that can predict the task completion time has stronger adaptability and better completion efficiency

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