Self-adaptive control method for teleoperation system under saturation of actuator

Abstract

The invention provides a self-adaptive control method for a teleoperation system under actuator saturation, which solves the problem of stability tracking control of a nonlinear bilateral teleoperation system with transmission delay, actuator saturation and uncertainty. In the neural network weight updating process, the approximation error updating process and the saturation factor updating process, the influence of the output quantity of the neural network on the saturation of the actuator and the lower bound of a saturation factor are considered, and the weight, the approximation error and the size of a packet bank feast are limited, so that the anti-saturation capability of the actuator is improved; and non-singular fast terminal sliding mode control is adopted, so that the robustness and the control precision of the system to external disturbance are improved. The result obtained by the method is not only suitable for a bilateral teleoperation system, but also suitable for control of a single robot and teleoperation of an autonomous system.

Description

technical field [0001] The invention relates to a structure and a design method of a limited-time self-adaptive controller of a remote operating system under the condition of bilateral time delay and actuator saturation, and belongs to the field of remote operating systems. Background technique [0002] In the past few decades, teleoperated robot systems have received extensive attention, which can maximize the safety of operators when exploring unknown environments, and expand the ability of humans to operate in unknown and dangerous environments. A typical teleoperation system consists of a master robot, a remote slave robot, a human operator, a task environment, and a communication channel connecting the two ends of the master and slave. The operator makes the system more flexible than a fully automatic system. Nowadays, applications of master-slave teleoperation robot systems can be found in many fields from micro to macro, such as space exploration, seabed exploration,...

AI Technical Summary

Problems solved by technology

However, the existence of these unfavorable factors often leads to the reduction of the tracking accuracy of the remote control system, the extension of the adjustment time, and even the loss of stability, which is not allowed in engineering practice

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