H infinite fuzzy fault-tolerant control method based on multilateral teleoperation system

Abstract

The invention discloses an H infinite fuzzy fault-tolerant control method based on a multilateral teleoperation system. The H infinite fuzzy fault-tolerant control method comprises the following steps: firstly, modeling a nonlinear multilateral teleoperation system into a T-S fuzzy system with communication time-varying time-lag; then, according to the characteristics of partial failure of the actuator and multi-type communication time delay, an H infinite fuzzy fault-tolerant architecture is established by applying a free weight matrix method; wherein the communication time delay between the master robot and the slave robot is asynchronous and time-varying. And then, by establishing a mode-related Lyapunov-Krasovskii functional, a sufficient condition for enabling a closed-loop system not only to be stable in random mean square, but also to have specified H-infinity noise suppression performance is obtained. Then, the nonlinearity of the matrix inequality under the sufficient condition is processed, and the gain of the controller is solved through Matlab. According to the method, the H-infinity disturbance suppression performance is achieved while the random mean square stability of the system is considered, and the asynchronous fault-tolerant controller is designed, so that the system can still keep a considerable operation state when actuator faults exist.

Description

technical field [0001] The invention relates to the technical field of fault-tolerant control, and relates to a fault-tolerant control method that applies a T-S fuzzy model to a multilateral teleoperating system with partial failure of actuators and a time-varying communication time delay, in particular to a H-infinity teleoperating system based on a multilateral teleoperating system. Fuzzy fault-tolerant control method. Background technique [0002] In recent years, robotic technology has developed rapidly, but due to the limitations of current technology, it is difficult for robots to complete many complex tasks autonomously. Therefore, in the face of complex tasks or environments that humans cannot reach, humans hope to combine their own consciousness with the robotic arms. Combined with strong execution. When performing such tasks, the human operator controls the master manipulator on the master side, sends command signals to the slave side, and then controls the slave ...

AI Technical Summary

Problems solved by technology

In practical application, when the multi-master and multi-slave remote control system performs the handling task, the slave manipulator is often disturbed, including the interference of internal parameters and the interference of the external environment, which will not only affect the effect of master-slave trajectory tracking, but even affect the Coordinating moving tasks to make an impact

[0004] At the same time, in reality, the actuators of the system will inevitably have various problems, such as stuck, partial failure, offset failure, etc., and when the multi-master and multi-slave remote control system operates, more components or parts are involved. Therefore, the frequency of failures is higher, and these failures will cause the performance of the system to degrade or even crash the system

It is conceivable that the more complex the components of the multi-master and multi-slave remote control system, the higher the failure rate

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