Teleoperation system fractional order sliding mode synchronous control method based on event trigger mechanism

Abstract

The invention provides a teleoperation system fractional order sliding mode synchronous control method based on an event trigger mechanism. The method comprises the steps: building a kinetic model of a teleoperation system through considering external disturbance and parameter uncertainty; selecting master and slave robots, interactively establishing a teleoperation system through a communication network, and determining system parameters of the kinetic model; designing a fractional order nonsingular fast terminal sliding mode surface equation by utilizing the position tracking error and the fractional order calculus; setting trigger event conditions of master and slave robot information interaction, and designing an adaptive fractional order nonsingular fast terminal sliding mode controller based on a sliding mode; and designing a Lyapunov function for stability analysis, and proving the boundness of a closed-loop state signal of the system. According to the teleoperation system fractional order sliding mode synchronous control method, the singular problem can be solved, the degree of freedom of the controller is expanded, the convergence speed is increased, the control precision is improved, the buffeting problem existing in the integer-order sliding mode surface is reduced, the applicability is higher, the occupation of network bandwidth and communication resources is reduced, and the resource utilization rate is increased.

Description

technical field [0001] The invention belongs to the control technology of a remote control system of a robot, in particular to a fractional-order sliding mode synchronous control method of a remote control system based on an event trigger mechanism. Background technique [0002] As a tool for human-computer interaction, the teleoperation system can extend human perception and operation capabilities to the remote working environment. Through the communication network, the slave robot can simulate the behavior of the master robot, and the master robot can adjust the working status of the slave robot according to the feedback. The control strategy finally realizes the effective operation of the remote controlled object. At present, it has been widely used in space operations, ocean exploration and nuclear energy technology and other fields. In particular, with the global outbreak of the new coronavirus this year, reducing contact between people is an effective way to prevent t...

AI Technical Summary

Problems solved by technology

However, in practical applications, the above-mentioned time-triggered control method has the following problems: 1) The frequent response of the actuator will accelerate the wear and tear of the mechanical equipment and shorten the service life

2) The periodic transmission and update of the controller may be redundant, which will waste the computing and processing resources of the processor and increase the communication burden

Most of the triggering mechanisms are based on the assumption that the state of the state-triggered error input is stable. This assumption is unreasonable in the presence of unknown parameters of the system.

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