Method for compensating finite interference time of remote operation system based on terminal slide model

Abstract

The invention discloses a method for compensating finite interference time of a remote operation system based on a terminal slide model. The method comprises the steps of respectively selecting a master robot and a slave robot so as to form a remote operation system, respectively measuring system parameters of the master robot and the slave robot, measuring power-off position information of the master robot and the slave robot online, obtaining joint speed information of the master robot and the slave robot by virtue of a robust precise differentiator, designing a finite time interference observer based on a terminal slide model, feeding back to the controller design of the master robot and the slave robot, and acquiring a parameter value range of the interference observer by virtue of a Lyapunov equation. By virtue of the method, the problems of low observation speed and limited capacity of an existing observer are solved, the influences caused by parameter indeterminacy and unknown interferences to the remote operation system are overcome, and the anti-jamming performance of the system is improved; and the controller design is simplified, and the application in engineering practice is benefited.

Description

technical field [0001] The invention relates to the field of remote control system control, in particular to a method for compensating for limited time of remote control system interference based on terminal sliding mode. Background technique [0002] The teleoperation system is mainly composed of the operator, the master robot, the network information transmission channel, the slave robot and the remote external working environment. Its working mode can be roughly described as: the operator operates the local master robot, and transmits information such as the position and speed of the master robot to the slave robot through the network and other transmission media, and the slave robot follows the received position and speed information of the master robot. Simulate the behavior of the master robot in a specific environment to complete various tasks, and at the same time, the working status of the slave robot will be fed back to the master operator, so that the operator can...

AI Technical Summary

Problems solved by technology

However, when the typical disturbance observer based on sliding mode has a large initial observation error, its observation speed will be greatly reduced, thus increasing the burden of controller design

The poor performance of the interference observer will lead to the instability of the whole system, which will bring great obstacles to the practical application of the remote control system

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