A Neural Adaptive Fixed Time Control Method for Complex Teleoperation Technology

Abstract

The present invention provides a neural self-adaptive fixed-time control method for complex teleoperation technology, comprising: firstly modeling the kinematics and dynamics of the master-slave robot of the teleoperation system, and setting the tracking error; then establishing the master robot's The control strategy of the operator's influence on the entire teleoperation system and the complex hybrid communication between the master and slave robots; finally, a neural adaptive non-singular fixed-time control method is proposed, and combined with the kinematics and dynamics models, the complex teleoperation system is realized The fixed-time stability of the master-slave robot's mutual position and trajectory tracking. The beneficial effects of the present invention are: closer to reality; more engineering significance, taking into account the unavoidable communication time lag between master and slave robots, and the time lag considered is a more realistic mixed time lag; fixed time tracking is realized, The method of the present invention has a stronger ability to adapt to engineering requirements, and avoids the singularity of the controller. In addition, the application of the neural network reduces the control gain, thereby reducing the control cost and reducing the control cost.

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 technology have also been 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 needs of current industrial automation, and it can also replace humans to complete high-risk and difficult tasks. [0003] However, in the practical application of ...

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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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