The invention discloses a nonlinear
teleoperation bilateral control method based on adaptive fuzzy inversion. According to the nonlinear
teleoperation bilateral control method, a
signal optimization function is designed at the slave end, thus a position
signal transmitted by a master end through a
communication channel is optimized, and a corresponding speed and acceleration
signal is generated atthe slave end; through fuzz
estimation of non-power environment parameters at the slave end and reconstitution of
environmental force of the master end, transmission of the power signal at the
communication channel is avoided, and the problem of balance of passivity, stability and transparency of a traditional
teleoperation system is avoided; aiming at the problems of nonlinearity, model uncertainty and parameter uncertainty of a bilateral teleoperation
system, a nonlinear controller based on inversion is provided by the invention, model information of a fuzzy
system approximation system is adopted, the adaptive rate for on-line adjusting the fuzzy
system parameters is designed based on a Lyapunov theory, and it is ensured that the system has the good stability and convergence.