Analysis And Design Of Bilateral Teleoperation System Based On Network Communication

Bilateral teleoperation system can make robots complete complex operations that are difficult for human.Bilateral teleoperation system has been widely used in nuclear power plant,underwater operation,space exploration and telemedicine.The signal transmission delays in the bilateral teleoperation system are unavoidable.At the same time,as the communication network is used in the bilateral teleoperation system to ensure the effective transmission of data,the networked bilateral teleoperation system is produced.The time-varying delays and packet loss in the network environment affect the performance of the bilateral teleoperation system.Based on the above situation,the controller design and performance analysis of the bilateral teleoperation system are carried out in this paper by combining the delay and packet loss in network communication.The research work of this paper are as follows:1)Observer-based bilateral teleoperation systemThe control problem of bilateral teleoperation system based on observer is studied in this paper.By establishing speed observer models,the controller design problem of multi-degree-of-freedom bilateral teleoperation system with asymmetric time-varying delays is solved.The stability condition of the system and the design method of the observers are given by using Lyapunov analysis method and the tracking performance of the master-slave manipulator can be ensured.2)Delay-distribution-dependent stability criterion for Bilateral teleoperation systemThe information of time-delay distributions of forward delay and backward delay are introduced into the system model,which makes the control problem of bilateral teleoperation system not only depends on the upper and lower bounds of time delays,but also depends on the distribution of time delays.By constructing a suitable Lyapunov function and using LMI technique,the delay-distribution-dependent stability criterion is provided for bilateral teleoperation system.3)Adaptive control of bilateral teleoperation system in packet loss environmentIn the general analysis of bilateral teleoperation system,the signal transmission in master-slave system only considers the influence of time delay.However,due to the use of communication network,packet loss may occur.Therefore,a packet loss model is established to describe the signals' transmission of the bilateral teleoperation,and the adaptive updating rules of the corresponding master-slave controllers are given to ensure the bilateral teleoperation system achieve global stability.4)Event-triggered control of bilateral teleoperation systemThe event-triggered mechanism is introduced into the bilateral teleoperation system to reduce the amount of data transmission in the network,save the network resources and reduce the impact of the unsatisfactory network environment on the system performance.This networked control problem of a bilateral teleoperation system based on event triggering is studied.First,the event-triggered mechanism based on relative error and a data packet processing mechanism for bilateral teleoperation system are given.Then,the parallel event-triggered mechanism is considered,which is not only related to the relative error,but also to the absolute error.The stability of bilateral teleoperation system is analyzed by Lyapunov function.All the results in this paper are given in the form of linear matrix inequalities,which are easy to solve by using the LMI toolbox in MATLAB.