Adaptive control method and system for a single-master multi-slave teleoperation robot system

Abstract

The present invention provides an adaptive control method and system for a single-master multi-slave teleoperation robot system, which relates to the technical field of teleoperation robot system control. The method includes: taking the single-master multi-slave teleoperation robot system as an object, constructing a virtual observer; based on the virtual observer, establishing a data transmission model of a TOD scheduling protocol based on event-triggered sampling; designing an event trigger condition, and at the same time designing an adaptive control scheme based on the synchronization variables of the robot, and using Lyapunov technology to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, so as to complete the adaptive control of the single-master multi-slave teleoperation robot system. The present invention can reduce the data interaction in the communication channel, reduce the communication burden, save resources to a greater extent, and enable more necessary information interaction between the master and slave ends under the condition of limited bandwidth.

Description

Technical Field

[0001] The present invention relates to the technical field of teleoperation robot system control, and particularly relates to an adaptive control method and system for a single-master multi-slave teleoperation robot system. Background Art

[0002] A teleoperation robot system transmits and acts on the commands and behaviors of the master end where a person is located to the remote end, so as to realize the operation and control of the remote environment, which can greatly improve the safety and work efficiency of the operator, save costs, and utilize resources more efficiently and reasonably. A typical teleoperation system consists of an operator, a master robot, a communication channel, a slave robot, and a remote environment. Due to the convenience of operation, teleoperation systems are widely used in fields such as space exploration, exploration, medical treatment, and national defense. However, with the increase in task complexity, it is difficult for the slave end to complete tasks relying on a single robot. Therefore, it is very necessary to study single-master multi-slave teleoperation systems.

[0003] A teleoperation robot system uses the Internet network to perform real-time interactive transmission of data and states of the master and slave robots. However, a series of problems will occur in network transmission, including data loss, delay, packet chaos, etc. In addition, in actual production, the communication bandwidth is limited, and it is difficult to complete heavy and fast information interaction. Therefore, it is necessary to study how to perform selective information interaction to save computing resources under the condition of limited communication bandwidth. In recent years, in response to the problem of limited communication bandwidth, various methods have been proposed to enable the teleoperation robot system to achieve tracking or synchronization problems under the condition of limited bandwidth, such as scheduling protocols, time-triggered mechanisms, event-triggered mechanisms, etc.

[0004] In previous studies on single-master multi-slave or multi-master multi-slave teleoperation systems, it is usually assumed that all manipulators in the system are allowed to use the network simultaneously and send (or receive) data, which makes it easy to cause "data conflicts" when the manipulators in the system initiate communication simultaneously. To prevent data conflicts, we hope that only a limited number of slave servers can access the network simultaneously. In many practical cases, communication is coordinated by a scheduling rule called a protocol, through which network resources can be correctly scheduled. Generally speaking, the communication protocols we commonly use include the Round-Robin (RR) protocol, the Try-Once-Discard (TOD) protocol, the Stochastic Communication Protocol (SCP), and so on. (Li Y, Liu K, He W, et al. Bilateral teleoperation of multiple robots under scheduling communication[J]. IEEE Transactions on Control Systems Technology, 2020, 28(5): 1770-1784) designed two control schemes for communication based on the RR and TOD scheduling protocols under time-varying delays. Although this method can achieve master-slave synchronization of the teleoperation system, there is still a large amount of redundant transmitted data, wasting system resources.

[0005] In practical applications, communication usually occurs on a digital network, and information is exchanged at discrete time intervals. Therefore, to reduce the communication burden and achieve transmission "on demand", it is necessary to study the event-triggered sampling mechanism. At this time, during the sampling period, the signal remains unchanged, and only when the trigger condition (system need) is met, that is, at the trigger moment, the sampled signal of the master-slave position is transmitted. While ensuring the system performance, it can not only reduce the amount of information synchronization transmission, but also make better use of the limited bandwidth. Summary of the Invention

[0006] Based on the event-triggered sampling mechanism and the TOD protocol, the present invention proposes an adaptive control strategy for master-slave synchronization, so as to solve the master-slave synchronization problem of the teleoperation robot system under communication constraints.

[0007] To achieve the above invention purpose, the technical solution provided by the present invention is as follows:

[0008] The present invention provides an adaptive control method for a single-master multi-slave teleoperation robot system, which is applicable to electronic devices. The method steps include:

[0009] S1. Taking the single-master multi-slave teleoperation robot system as the object, construct a virtual observer;

[0010] S2. Based on the virtual observer, establish a data transmission model for the TOD scheduling protocol based on event-triggered sampling;

[0011] S3. Design event-triggering conditions, and at the same time design an adaptive control scheme based on the synchronization variables of the robot. Use Lyapunov technology to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, and complete the adaptive control of the single-master multi-slave teleoperation robot system.

[0012] Preferably, in step S1, taking the single-master multi-slave teleoperation robot system as the object, construct a virtual observer, including:

[0013] Obtain the dynamic model of the single-master multi-slave teleoperation robot system and obtain the dynamic model parameters;

[0014] According to the dynamic model parameters, define the triggering sampling moments of the master robot and the i-th slave robot, and the triggering sampling moments are represented by a time series;

[0015] According to the time series, construct virtual observers for the master robot and the i-th slave robot respectively.

[0016] Preferably, obtaining the dynamic model of the single-master multi-slave teleoperation robot system and obtaining the dynamic model parameters includes:

[0017] Obtain the dynamic model of the single-master multi-slave teleoperation robot system as shown in the following formula (1):

[0018]

[0019] Among them, the subscript m represents the master robot, the subscript si represents the i-th slave robot, and i = 1,... N; respectively represent the position, velocity and acceleration of the joints of the master / slave robot, M m (q m ), M si (q si ) ∈ R n×n is the positive definite inertia matrix of the system, represents the Coriolis force and centrifugal force matrix of the system, G m (q m ), G si (q si ) ∈ R n represents the gravity torque of the system, f m , f si respectively represent the external force applied by the operator and the external force applied by the environment, τ m , τ si ∈ R nis the input torque of each joint of the master manipulator and the slave manipulator.

[0020] Preferably, according to the dynamic model parameters, the trigger sampling moments of the master robot and the i-th slave robot are defined, and the trigger sampling moments are represented by a time series; according to the time series, virtual observers are respectively constructed for the master robot and the i-th slave robot, including:

[0021] The trigger sampling moments of the master robot and the i-th slave robot are respectively defined by the time series shown; virtual observers are respectively constructed for each master-slave manipulator according to the following formula (2):

[0022]

[0023] where, x m , x si are respectively the outputs of the master and slave observers, α m , α si , β m , β si , κ m , κ si are positive constants, T m (t), T s (t) respectively represent the time-varying delay of the forward information transmission from the master robot to the slave robot and the time-varying delay of the backward information transmission from the slave robot to the master robot, is the reconstructed signal after sampling and transmission of the output of the i-th slave robot observer is the reconstructed signal after sampling and transmission of the output of the master robot observer For the time-varying delays T m (t), T s (t):

[0024] Satisfy: 0 ≤ T j (t) ≤ d j , where, d j , p j are positive integers, j = m, s.

[0025] Preferably, in step S2, based on the virtual observer, a data transmission model of the TOD scheduling protocol based on event-triggered sampling is established, including:

[0026] Based on the time series, for each k ∈ N, the active slave robots accessing the communication network should satisfy the following formula (3):

[0027]

[0028] where, Q idenotes the weighted matrix, η i denotes the transmission error denotes the slave robot that obtains the communication network access permission

[0029] Then, calculate the transmission data of the slave end according to the following formula (4):

[0030]

[0031] where denotes the latest data transmitted from the slave end to the master end is the slave robot that obtains the communication network access permission is calculated according to (3);

[0032] Then, the representation of the transmission data under the TOD protocol is as follows according to the following formula (5):

[0033]

[0034] where is the sampling signal is the reconstructed signal of

[0035] In addition, the slave end data transmission interval satisfies where h > 0 is the maximum allowable transmission interval

[0036] Preferably, in step S3, design the event trigger condition, and at the same time design an adaptive control scheme based on the synchronization variable of the robot, including:

[0037] Define the error e between the actual joint position and the observer output m (t) = q m (t) - x m (t), e si (t) = q si (t) - x si (t); and then define the synchronization variable

[0038] Design an adaptive controller as follows according to the following formula (6):

[0039]

[0040] where is the regression matrix of the system is the parameter adaptive adjustment variable to estimate the vector θ composed of the uncertain parameters of the system z , Γ z is a diagonal positive definite constant matrix; T represents the transpose;

[0041] Define the measurement error The event trigger condition is designed as shown in the following formula (7):

[0042]

[0043] Among them, c z , μ z , ν z >0.

[0044] Preferably, in step S3, the Lyapunov technique is used to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, and the adaptive control of the single-master multi-slave teleoperation robot system is completed, including:

[0045] Select a discontinuous Lyapunov function as shown in the following formula (8):

[0046]

[0047] Then, it can be seen from formula (8) that for the Lyapunov function V(t) is continuous and differentiable;

[0048] When the linear matrix inequality (9) is satisfied, it is proved that at the jumping moment, V(t) is positive and does not increase:

[0049]

[0050] Through stability analysis, the linear matrix inequality (10) is satisfied:

[0051]

[0052] At this time, the single-master multi-slave teleoperation system runs stably, and the master-slave position synchronization is achieved, and the adaptive control of the single-master multi-slave teleoperation robot system is completed.

[0053] An adaptive control system for a single-master multi-slave teleoperation robot system, which is used for the adaptive control method of the above single-master multi-slave teleoperation robot system. The system includes:

[0054] An initialization module, which is used to construct a virtual observer with the single-master multi-slave teleoperation robot system as the object;

[0055] A data transmission model establishment module, which is used to establish a data transmission model of the TOD scheduling protocol based on event-triggered sampling based on the virtual observer;

[0056] An adaptive control module, which is used to design an event trigger condition, design an adaptive control scheme based on the synchronization variables of the robot, and establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability by using Lyapunov technology, so as to complete the adaptive control of the single-master multi-slave teleoperation robot system.

[0057] Preferably, an initialization module is further used to obtain the dynamic model of the single-master multi-slave teleoperation robot system and obtain the dynamic model parameters;

[0058] According to the dynamic model parameters, define the trigger sampling moments of the master robot and the i-th slave robot, and the trigger sampling moments are represented by a time series;

[0059] According to the time series, construct virtual observers for the master robot and the i-th slave robot respectively.

[0060] Preferably, an initialization module is further used to obtain the dynamic model of the single-master multi-slave teleoperation robot system as shown in the following formula (1):

[0061]

[0062] Where the subscript m represents the master robot, the subscript si represents the i-th slave robot, and i = 1,... N; respectively represent the position, velocity and acceleration of the joints of the master / slave robot, M m (q m ), M si (q si ) ∈ R n×n is the positive definite inertia matrix of the system, represents the Coriolis force and centrifugal force matrix of the system, G m (q m ), G si (q si ) ∈ R n represents the gravity torque of the system, f m , f si respectively represent the external force applied by the operator and the external force applied by the environment, τ m , τ si ∈ R n are the input torques of each joint of the master manipulator and the slave manipulator.

[0063] On the one hand, an electronic device is provided, and the electronic device includes a processor and a memory. At least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the above-mentioned adaptive control method of the single-master multi-slave teleoperation robot system.

[0064] On the one hand, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the adaptive control method of the above-mentioned single-master multi-slave teleoperation robot system.

[0065] The above technical solution has at least the following beneficial effects compared with the prior art:

[0066] In the above solution, an adaptive control method for a single-master multi-slave teleoperation robot system provided by the present invention, aiming at the existing technical defects, for a single-master multi-slave teleoperation robot system with time-varying communication delay, parameter uncertainty and unmeasurable speed, by constructing a virtual observer and based on an event-triggered sampling mechanism and TOD protocol, an adaptive control scheme for master-slave synchronization is proposed. The present invention can reduce the data interaction in the communication channel, reduce the communication burden, save resources to a greater extent, and enable more necessary information interaction between the master and slave ends under limited bandwidth. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0068] Figure 1 It is a flowchart of an adaptive control method for a single-master multi-slave teleoperation robot system provided by the present invention.

[0069] Figure 2 Schematic diagram of adaptive control of a single-master multi-slave teleoperation system under the TOD scheduling protocol based on an event-triggered sampling mechanism;

[0070] Figure 3 It is a schematic structural diagram of a single-master multi-slave teleoperation system;

[0071] Figure 4 It is a joint position curve diagram of the teleoperation system;

[0072] Figure 5 It is a joint speed curve diagram of the teleoperation system;

[0073] Figure 6 It is an output position curve diagram of the virtual observer;

[0074] Figure 7 It is an output speed curve diagram of the virtual observer;

[0075] Figure 8 It is an error curve diagram of the joint position of the teleoperation system and the output position of the virtual observer;

[0076] Figure 9 It is the signal transmission time diagram of the master-slave ends of the teleoperation system.

[0077] Figure 10 It is the schematic diagram of the adaptive control system of a kind of coarse single-master multi-slave teleoperation robot system provided by the present invention.

[0078] Figure 11 It is the schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Specific implementation manners

[0079] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0080] Aiming at a single-master multi-slave teleoperation robot system with time-varying communication delay, parameter uncertainty and unmeasurable speed, the present invention constructs a virtual observer and proposes an adaptive control scheme for master-slave synchronization based on an event-triggered sampling mechanism and the TOD protocol. The present invention can reduce the data interaction in the communication channel, reduce the communication burden, save resources to a greater extent, and enable more necessary information interaction between the master and slave ends under limited bandwidth.

[0081] Figure 1 It is the flow chart of an adaptive control method for a single-master multi-slave teleoperation robot system of the present invention, and this method can be implemented by an electronic device. The method is used for the adaptive control system of a single-master multi-slave teleoperation robot system, and the method includes:

[0082] S101. Taking the single-master multi-slave teleoperation robot system as an object, constructing a virtual observer;

[0083] In a feasible implementation manner, as Figure 2 shown in the adaptive control algorithm of the single-master multi-slave teleoperation system under the TOD scheduling protocol based on the event-triggered sampling mechanism, in order to obtain the dynamic model of the single-master multi-slave teleoperation robot system, obtaining the dynamic model parameters;

[0084] According to the dynamic model parameters, defining the trigger sampling moments of the master robot and the i-th slave robot, and the trigger sampling moments are represented by a time series;

[0085] According to the time series, virtual observers are constructed for the master robot and the i-th slave robot respectively. In a feasible implementation manner, the dynamic model of the single-master multi-slave teleoperation robot system is obtained, and the dynamic model parameters are obtained, including:

[0086] The dynamic model of the single-master multi-slave teleoperation robot system is as Figure 3 shown, and the dynamic model of the single-master multi-slave teleoperation robot system as shown in the following formula (1) is obtained:

[0087]

[0088] where the subscript m represents the master robot, the subscript si represents the i-th slave robot, and i = 1,... N; respectively represent the position, velocity, and acceleration of the joints of the master / slave robot, and M m (q m ), M si (q si ) ∈ R n×n is the positive definite inertia matrix of the system, represents the Coriolis force and centrifugal force matrix of the system, and G m (q m ), G si (q si ) ∈ R n represents the gravity torque of the system, f m , f si respectively represent the external force applied by the operator and the external force applied by the environment, and τ m , τ si ∈ R n are the input torques of the joints of the master manipulator and the slave manipulator.

[0089] In a feasible implementation manner, the research objective of the present invention is to ensure the master-slave synchronization and the cooperative movement between multiple slave robots through the proposed control scheme, that is where represents the geometric center of the slave formation, and the i-th slave robot always maintains the distance and direction γ from the geometric center of the formation i , where γ i ∈ R n is a constant vector that satisfies

[0090] In a feasible implementation manner, according to the dynamic model parameters, the trigger sampling moments of the master robot and the i-th slave robot are defined, and the trigger sampling moments are represented by a time series; according to the time series, constructing virtual observers for the master robot and the i-th slave robot respectively includes:

[0091] Define the trigger sampling moments of the master robot and the $i$-th slave robot by the time series respectively; construct a virtual observer for each master-slave manipulator according to the following formula (2):

[0092]

[0093] where $x$ m , $x$ si are the outputs of the master and slave observers respectively, $\alpha$ m , $\alpha$ si , $\beta$ m , $\beta$ si , $\kappa$ m , $\kappa$ si are positive constants, $T$ m (t), $T$ s (t) represent the time-varying delay of the forward information transmission from the master robot to the slave robot and the time-varying delay of the backward information transmission from the slave robot to the master robot respectively, is the reconstructed signal after sampling and transmission of the output of the $i$-th slave robot observer is the reconstructed signal after sampling and transmission of the output of the master robot observer For the time-varying delays $T$ m (t), $T$ s (t):

[0094] Satisfy: $0\leq T$ j (t) $\leq d$ j , where $d$ j , $p$ j are positive integers, $j = m, s$.

[0095] S102. Based on the virtual observer, establish a data transmission model of the TOD scheduling protocol based on event-triggered sampling;

[0096] In a feasible implementation, since there is one robot at the master end, the TOD protocol is only applied to the communication channel from the slave to the master. The event trigger moments of the master-slave robots are represented by the time series respectively. Use to represent the transmission moment at the slave end. Apply the TOD scheduling protocol to allow only one slave-end robot to transmit data to the master end at each moment, where that is, the transmission moment at the slave end must be the event trigger moment of the slave robot. Therefore, based on the time series, for each $k\in N$, the active slave robots accessing the communication network should satisfy the following formula (3):

[0097]

[0098] Among them, Q i represents the weighting matrix, and η i represents the transmission error, represents the slave robot that obtains the communication network access permission,

[0099] Then, calculate the transmission data of the slave end according to the following formula (4):

[0100]

[0101] Among them, represents the latest data transmitted from the slave end to the master end, is the slave robot that obtains the communication network access permission, is calculated according to (3);

[0102] Then, the representation of the transmission data under the TOD protocol is as follows according to the following formula (5):

[0103]

[0104] Among them, is the reconstructed signal of the sampling signal of

[0105] In addition, the data transmission interval of the slave end satisfies Among them, h > 0 is the maximum allowable transmission interval.

[0106] S103. Design the event trigger condition, and at the same time design an adaptive control scheme based on the synchronization variables of the robot, and use the Lyapunov technique to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, so as to complete the adaptive control of the single-master multi-slave teleoperation robot system.

[0107] In a feasible implementation, define the error e m (t) = q m (t) - x m (t), e si (t) = q si (t) - x si (t); and then define the synchronization variable

[0108] Design an adaptive controller as follows according to the following formula (6):

[0109]

[0110] Among them, is the regression matrix of the system, Let the parameter adaptive adjustment variable be used to estimate the vector θ composed of the uncertain parameters of the system z , Γ z is a diagonal positive definite constant matrix; T represents the transpose;

[0111] Define the measurement error The event trigger condition is designed as shown in the following formula (7):

[0112]

[0113] where, c z , μ z , ν z > 0.

[0114] In a feasible implementation, select the discontinuous Lyapunov function as shown in the following formula (8):

[0115]

[0116] where,

[0117] where, R m , R si , Q i , U i , P i , Z i are positive definite matrices.

[0118] Then, from formula (8) and formula (8-1), it can be seen that for the Lyapunov function V(t) is continuous and differentiable;

[0119] As long as the linear matrix inequality (9) is satisfied, it is proved that at the jumping moment, V(t) is positive and does not increase:

[0120]

[0121] Through stability analysis, specifically including: taking the derivative of the Lyapunov function V, when the linear matrix inequality (10) is satisfied, the derivative of V is negative semi-definite. Satisfy the linear matrix inequality (10):

[0122]

[0123] where,

[0124] At this time, the single-master multi-slave teleoperation system operates stably, and master-slave position synchronization is achieved, completing the adaptive control of the single-master multi-slave teleoperation robot system.

[0125] In a feasible implementation manner, as Figure 4 , Figure 5 , Figure 6 and Figure 7 shown, they are the actual joint positions and speeds of the master-slave teleoperation robot in the present invention and the output positions and speeds of the virtual observer; Figure 8 shown is the position error graph between the actual joint position of the teleoperation in the present invention and the position of the virtual observer; Figure 9 shown is the data transmission time and transmission interval graph between the master and slave ends in the present invention.

[0126] In a feasible implementation manner, based on the above method, the present invention proposes a TOD scheduling protocol based on event-triggered sampling, which is applied to a class of single-master multi-slave teleoperation robot systems, effectively avoiding network congestion caused by simultaneous transmission of a large amount of data, and at the same time reducing the burden of data transmission and energy consumption.

[0127] In the embodiment of the present invention, considering the influence of unmeasurable speed signals and asymmetric time-varying delays and limited by communication bandwidth, an adaptive control algorithm under the TOD scheduling protocol based on the event-triggered sampling mechanism of a single-master multi-slave teleoperation system is designed. By applying the event-triggered mechanism and the TOD scheduling protocol, the master-slave robots only sample when the event-triggered conditions are met, and then selectively transmit signals in combination with the TOD protocol, greatly reducing the redundancy of transmitted signals, avoiding data collisions, reducing the communication burden of the system, and improving resource utilization.

[0128] As Figure 10 shown, the embodiment of the present invention provides an adaptive control system 200 for a single-master multi-slave teleoperation robot system, and this system can be implemented by an electronic device. As Figure 10 shown in the schematic diagram of the adaptive control system 200 for the single-master multi-slave teleoperation robot system, this system 200 includes:

[0129] An initialization module 210, configured to construct a virtual observer with the single-master multi-slave teleoperation robot system as the object;

[0130] A data transmission model establishment module 220, configured to establish a data transmission model of the TOD scheduling protocol based on event-triggered sampling based on the virtual observer;

[0131] An adaptive control module 230, configured to design event-triggered conditions, and at the same time design an adaptive control scheme based on the synchronization variables of the robot, and use Lyapunov technology to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, so as to complete the adaptive control of the single-master multi-slave teleoperation robot system.

[0132] Preferably, the initialization module 210 is further configured to obtain the dynamic model of the single-master multi-slave teleoperation robot system and obtain the dynamic model parameters;

[0133] According to the dynamic model parameters, define the trigger sampling moments of the master robot and the i-th slave robot, and the trigger sampling moments are represented by a time series;

[0134] According to the time series, construct virtual observers for the master robot and the i-th slave robot respectively.

[0135] Preferably, the initialization module 210 is further configured to obtain the dynamic model of the single-master multi-slave teleoperation robot system as follows in formula (1):

[0136]

[0137] where the subscript m represents the master robot, the subscript si represents the i-th slave robot, and i = 1,... N; respectively represent the position, velocity and acceleration of the joints of the master / slave robot, M m (q m ), M si (q si ) ∈ R n×n is the positive definite inertia matrix of the system, represents the Coriolis force and centrifugal force matrix of the system, G m (q m ), G si (q si ) ∈ R n represents the gravity torque of the system, f m , f si respectively represent the external force applied by the operator and the external force applied by the environment, τ m , τ si ∈ R n is the input torque of each joint of the master manipulator and the slave manipulator.

[0138] Preferably, according to the dynamic model parameters, define the trigger sampling moments of the master robot and the i-th slave robot, and the trigger sampling moments are represented by a time series; constructing virtual observers for the master robot and the i-th slave robot respectively according to the time series includes:

[0139] Define that the trigger sampling moments of the master robot and the i-th slave robot are respectively represented by the time series ; construct virtual observers for each master-slave manipulator according to the following formula (2):

[0140]

[0141] where xm , x si are the outputs of the master and slave observers, respectively, α m , α si , β m , β si , κ m , κ si are positive constants, T m (t), T s (t) represent the time-varying delay of the forward information transmission from the master robot to the slave robot and the time-varying delay of the backward information transmission from the slave robot to the master robot, respectively. is the reconstructed signal after sampling and transmission of the output of the i-th slave robot observer is the reconstructed signal after sampling and transmission of the output of the master robot observer For the time-varying delay T m (t), T s (t):

[0142] satisfy: 0 ≤ T j (t) ≤ d j , where, d j , p j is a positive integer, j = m, s.

[0143] Preferably, the data transmission model establishment module 220 is further configured to, based on the time series, for each k ∈ N, obtain that the active slave robots accessing the communication network should satisfy the following formula (3):

[0144]

[0145] where, Q i represents the weighting matrix, η i represents the transmission error, represents the slave robot that obtains the access permission to the communication network,

[0146] Then, calculate the transmission data at the slave end according to the following formula (4):

[0147]

[0148] where, represents the latest data transmitted from the slave end to the master end, is the slave robot that obtains the access permission to the communication network, is calculated according to (3);

[0149] Then, represent the transmission data under the TOD protocol according to the following formula (5):

[0150]

[0151] Among them, is the sampled signal and

[0152] In addition, the end - to - end data transmission interval satisfies where h > 0 is the maximum allowable transmission interval.

[0153] Preferably, the adaptive control module 230 is further configured to define the error e m (t) = q m (t) - x m (t), e si (t) = q si (t) - x si (t); and then define the synchronization variable

[0154] Design an adaptive controller as shown in the following formula (6):

[0155]

[0156] where is the regression matrix of the system, is the parameter adaptive adjustment variable to estimate the vector θ composed of the uncertain parameters of the system z , Γ z is a diagonal positive definite constant matrix; T represents the transpose;

[0157] Define the measurement error The event - trigger condition is designed as shown in the following formula (7):

[0158]

[0159] where c z , μ z , ν z > 0.

[0160] Preferably, the adaptive control module 230 is further configured to select a discontinuous Lyapunov function as shown in the following formula (8):

[0161]

[0162] Then, it can be seen from formula (8) that for the Lyapunov function V(t) is continuous and differentiable;

[0163] When the linear matrix inequality (9) is satisfied, it is proved that at the jumping moment, V(t) is positive and non - increasing:

[0164]

[0165] Through stability analysis, the linear matrix inequality (10) is satisfied:

[0166]

[0167] At this time, the single-master multi-slave teleoperation system operates stably, and master-slave position synchronization is achieved, completing the adaptive control of the single-master multi-slave teleoperation robot system.

[0168] In the embodiment of the present invention, an adaptive control method for a single-master multi-slave teleoperation robot system is provided. Aiming at the existing technical defects, for a single-master multi-slave teleoperation robot system with time-varying communication delay, parameter uncertainty, and unmeasurable speed, by constructing a virtual observer and based on an event-triggered sampling mechanism and TOD protocol, an adaptive control scheme for master-slave synchronization is proposed. The present invention can reduce data interaction in the communication channel, reduce communication burden, save resources to a greater extent, and enable more necessary information interaction between the master and slave ends under limited bandwidth.

[0169] Figure 11 FIG. 18 is a schematic structural diagram of an electronic device 300 provided by an embodiment of the present invention. The electronic device 300 may vary greatly due to configuration or performance differences, and may include one or more processors (central processing units, CPUs) 301 and one or more memories 302. Among them, at least one instruction is stored in the memory 302, and the at least one instruction is loaded and executed by the processor 301 to implement the steps of the following adaptive control method for a single-master multi-slave teleoperation robot system:

[0170] S1. Taking the single-master multi-slave teleoperation robot system as an object, construct a virtual observer;

[0171] S2. Based on the virtual observer, establish a data transmission model of the TOD scheduling protocol based on event-triggered sampling;

[0172] S3. Design event trigger conditions, and at the same time design an adaptive control scheme based on the synchronization variables of the robot, and use Lyapunov technology to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, and complete the adaptive control of the single-master multi-slave teleoperation robot system.

[0173] In an exemplary embodiment, a computer-readable storage medium is further provided, such as a memory including instructions that can be executed by a processor in a terminal to complete the adaptive control method of the above single-master multi-slave teleoperation robot system. For example, the computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0174] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a magnetic disk, or an optical disc, etc.

Claims

1. An adaptive control method for a single-master multi-slave teleoperation robot system, characterized in that, The method steps include: S1. Taking the single-master multi-slave teleoperation robot system as the object, constructing a virtual observer; Taking the single-master multi-slave teleoperation robot system as the object, constructing a virtual observer, including: Obtaining the dynamic model of the single-master multi-slave teleoperation robot system and obtaining the parameters of the dynamic model; According to the kinetic model parameters, define the trigger sampling moments of the master robot and the th slave robot, and the trigger sampling moments are represented by a time series; According to the time series, virtual observers are respectively constructed for the master robot and the th slave robot; According to the kinetic model parameters, define the triggering sampling moments of the master robot and the th slave robot, and the triggering sampling moments are represented by a time series; according to the time series, construct virtual observers for the master robot and the th slave robot respectively, including: Define the triggering sampling moments of the master robot and the th slave robot, which are represented by the time series respectively; construct a virtual observer for each master-slave manipulator according to the following formula (2): （2） wherein, are the outputs of the master and slave observers respectively, are positive constants, respectively represent the time-varying delay of forward information transmission from the master robot to the slave robot and the time-varying delay of backward information transmission from the slave robot to the master robot, is the reconstructed signal after sampling and transmission of the output of the th slave robot observer, , is the reconstructed signal after sampling and transmission of the output of the master robot observer, , ; for the time-varying delay : Satisfy: ; wherein, is a positive integer, j = m,s ; S2. Based on the virtual observer, establishing a data transmission model of the TOD scheduling protocol based on event-triggered sampling; S3. Designing an event trigger condition, and at the same time designing an adaptive control scheme based on the synchronization variables of the robot, and using Lyapunov technology to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, so as to complete the adaptive control of the single-master multi-slave teleoperation robot system.

2. The method according to claim 1, wherein The obtaining of the dynamic model of the single-master multi-slave teleoperation robot system and the obtaining of the parameters of the dynamic model include: Obtaining the dynamic model of the single-master multi-slave teleoperation robot system as shown in the following formula (1): （1） where the subscript m represents the master robot, and the subscript si represents the i th slave robot, i = 1 ,...N ; represent the positions, velocities, and accelerations of the master / slave robot joints respectively, is the positive definite inertia matrix of the system, represents the Coriolis and centrifugal force matrix of the system, represents the gravity torque of the system, represent the external forces applied by the operator and the external forces applied by the environment respectively, are the input torques of the joints of the master manipulator and the slave manipulator.

3. The method according to claim 2, wherein In the above S2, based on the virtual observer, establishing a data transmission model of the TOD scheduling protocol based on event-triggered sampling includes: Based on the time series, for each , the active slave robots accessing the communication network should satisfy the following formula (3): （3） Among them, Q i represents a weighting matrix, η i represents a transmission error, represents a slave robot that obtains access to the communication network, ; Then, calculating the transmitted data of the slave end according to the following formula (4): （4） Among them, represents the latest data transmitted from the slave end to the master end, is the slave robot that obtains the communication network access right, which is calculated according to formula (3); represents the sampling signal represents the data transmitted from the slave end to the master end at the previous moment; Representing the transmitted data under the TOD protocol according to the following formula (5): （5） Among them, is the reconstructed signal of the sampled signal, ; In addition, the end-to-end data transfer interval satisfies , where is the maximum allowable transfer interval.

4. The method according to claim 3, wherein In the above S3, designing an event trigger condition and at the same time designing an adaptive control scheme based on the synchronization variables of the robot include: Define the error between the actual joint position and the observer output ; and then define the synchronization variable ; Designing an adaptive controller as shown in the following formula (6): （6） Among them, is the regression matrix of the system, is the parameter adaptive adjustment variable to estimate the vector composed of the uncertain parameters of the system , is a diagonal positive definite constant matrix; T represents the transpose; Define measurement error , the event trigger condition is designed as shown in the following formula (7): （7） Among them, .

5. The method according to claim 4, wherein In the above S3, using Lyapunov technology to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, so as to complete the adaptive control of the single-master multi-slave teleoperation robot system, includes: Select a discontinuous Lyapunov function as in the following formula (8) :[[]]END]] （8） It can be seen from Equation (8) that for , the Lyapunov function is continuous and differentiable; When the linear matrix inequality (9) is satisfied, it is proved that at the moment, is positive and does not increase: （9） Through stability analysis, satisfying the linear matrix inequality (10): （10） At this time, the single-master multi-slave teleoperation system runs stably, and the master-slave position synchronization is realized, and the adaptive control of the single-master multi-slave teleoperation robot system is completed.

6. An adaptive control system for a single-master multi-slave teleoperation robot system, characterized in that, The system includes: An initialization module for taking the single-master multi-slave teleoperation robot system as the object and constructing a virtual observer; An initialization module for obtaining the dynamic model of the single-master multi-slave teleoperation robot system and obtaining the parameters of the dynamic model; According to the kinetic model parameters, define the trigger sampling moments of the master robot and the th slave robot, and the trigger sampling moments are represented by a time series; According to the time series, virtual observers are respectively constructed for the master robot and the th slave robot; According to the kinetic model parameters, define the trigger sampling moments of the master robot and the th slave robot, and the trigger sampling moments are represented by a time series; according to the time series, construct virtual observers for the master robot and the th slave robot respectively, including: Define the trigger sampling moments of the master robot and the th slave robot, which are represented by time series respectively; construct a virtual observer for each master-slave manipulator according to the following formula (2): （2） wherein, are the outputs of the master and slave observers respectively, are positive constants, respectively represent the time-varying delay of the forward information transmission from the master robot to the slave robot and the time-varying delay of the backward information transmission from the slave robot to the master robot, is the reconstructed signal after sampling and transmission of the output of the -th slave robot observer, is the reconstructed signal after sampling and transmission of the output of the master robot observer, ; for the time-varying delay : : Satisfy: Wherein, is a positive integer, j = m,s ; A data transmission model establishment module for establishing a data transmission model of the TOD scheduling protocol based on event-triggered sampling based on the virtual observer; An adaptive control module for designing an event trigger condition, and at the same time designing an adaptive control scheme based on the synchronization variables of the robot, and using Lyapunov technology to establish the relationship between the controller parameters, the parameters of the virtual observer, the upper bound of the communication delay, and the maximum allowable transmission interval and the system stability, so as to complete the adaptive control of the single-master multi-slave teleoperation robot system.

7. The system according to claim 6, wherein The initialization module is further used to obtain the dynamic model of the single-master multi-slave teleoperation robot system as shown in the following formula (1): （1） Among them, the subscript m represents the master robot, and the subscript si represents the i th slave robot, i = 1 ,...N ; respectively represent the position, velocity, and acceleration of the master / slave robot joints, is the positive definite inertia matrix of the system, represents the Coriolis and centrifugal force matrix of the system, represents the gravity torque of the system, respectively represent the external force applied by the operator and the external force applied by the environment, is the input torque of each joint of the master manipulator and the slave manipulator.

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