Adaptive fuzzy teleoperation control method based on disturbance observer

Abstract

The invention discloses an adaptive fuzzy teleportation control method based on a disturbance observer, comprising the following steps: step S1: establishing a dynamic model for a master arm and a slave manipulator of a bilateral teleportation system; step S2: designing a corresponding disturbance observer for unknown interference from a slave edge; step S3: for the kinematics and dynamics uncertainty of the manipulator, estimating and compensating the manipulator by using a fuzzy adaptive controller, and designing an adaptive fuzzy controller based on the disturbance observer. The invention provides a design method of an external disturbance observer. At the same time, for the kinematics and dynamics uncertainty of the master and slave ends, the present invention utilizes the fuzzy adaptive control method to counteract the influence of uncertainty on the stability and synchronization performance of the system. Moreover, the slave end controller is combined with the disturbance observer based on this design to further eliminate the influence of external unknown interference on the system.

Description

technical field [0001] The invention relates to the technical field of teleoperation robot control, and relates to an adaptive fuzzy control method of a bilateral teleoperation system based on an interference observer. Background technique [0002] Teleoperation technology realizes the operation control of remote tasks in dangerous and harmful environments by combining human initiative and robot adaptability. [0003] The bilateral teleoperation human operating system is mainly composed of five parts: the operator, the master and its controller, the communication network, the slave and its controller, and the external environment. Since the robot is in the environment where the task will be performed, such as a remote place, or a dangerous environment that is inaccessible to humans. Under master-slave teleoperation control, the human operator manipulates the master robot to perform a certain task or perform a certain action, transmits the action instruction to the slave rob...

AI Technical Summary

Problems solved by technology

[0004] The performance indicators of the teleoperation system mainly include stability and transparency, and the effective control of the teleoperation system faces many challenges. On the one hand, due to the complexity, nonlinearity and coupling between the master and slave systems of the system itself, On the one hand, due to changes in the environment, there are uncertainties in the dynamics and kinematics parameters of the system, and at the same time, unknown disturbances in the environment will also affect the performance of the system.

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