Teleoperation System Intelligent Control Study

Based on predictive control and Lyapunov function, this dissertation devotes on the design of feedback controller for teleoperation robot systems by using neural network models and linear matrix inequalities to guarantee stability and transparency of the systems. The main work of this dissertation consists of four parts as follows:In part I , the development about teleoperation robot systems and general situation about their research are discussed first, and then the main methods and some tools, which will be used in this dissertation, are stated. Furthermore, the major problems, which are studied in this dissertation, are introduced. Finally, some necessary preliminary results in this dissertation are given.In part II ,in order to eliminate or reduce the effect of time-varying time delays, data loss and unknown, time-varying, even non-linear environment to an Internet-based teleoperation robot system, back propogation neural network is used to build the model of slave and environment. The master's position, velocity and force exerted on the slave are predicted through the neural network models such that the slave can track the master real time. Moreover, Controllers are switched between the predictive control and passive control to make sure that the whole system is stable and transparent. At last, we analysis communication protocols of Internet and treat with time delays and data loss.In part III, memory position and velocity feedback is proposed to guarantee stability and transparency of a teleoperation robot system with time delay and uncertain parameters. Linear matrix inequality is used to design feedback parameters of the system. In this way, static track error between the master and the slave is little, however, sometimes the feedback parameters doesn't exist. In order to solve this problem, we propose memory force, position and velocity feedback control method. The system can achieve good performance using this method and feedback parameters always exist.In part IV, time forward observer is used to predict states of the slave. Moreover, force, position and velocity feedback is proposed to design the system. Feedback parameters are solved through linear matrix inequalities. When time delay is time varying, the varying rate of the time delay is modeled as uncertain parameters or disturbance. Stability and transparency are discussed in four cases (time varying delay and known environment; time varying delay and unknown environment; time invariable delay and known environment; time invariable delay and unknown environment).In this dissertation, simulations are made for major design schemes. Simulation results show the effectiveness of the proposed approaches.