Force Feedback Control Of Servo System Based On Adaptive Sliding-mode-assisted Disturbance Observer

Force feedback control of the servo system is the core of the bilateral teleoperation system.The goal of force feedback bilateral control is to realize the position tracking and force transmission of the master and slave actuators.However,in the working process,complex disturbances such as friction,model uncertainty of the controlled object,and external disturbance torque seriously damage the performance of position tracking and force transmission.It is of great theoretical significance and application value to study the control method to improve the force feedback performance of the servo system.In this paper,adaptive control,sliding mode control,and disturbance observer are used to study the anti-disturbance control of a single actuator and the force/ position hybrid control of multi-actuators.(1)The anti-disturbance control of a single actuator is studied.An adaptive slidingmode-assisted disturbance observer is proposed for the controlled object suffering from complex disturbances.The tracking differentiator is used to design the disturbance observer.The disturbance observer combines adaptive control and sliding mode control theory to design an adaptive sliding-mode-assisted disturbance observer.The introduced sliding mode observation and the disturbance observer assist each other to improve the anti-disturbance ability and effectively reduce the chattering caused by the sliding mode control quantity.(2)It is studied that an adaptive sliding-mode-assisted disturbance observer-based bilateral control method.The adaptive sliding-mode-assisted disturbance observer is used as the external force detection,and the bilateral control method is designed based on the four-channel architecture.From the perspective of improving force estimation performance,it is improved the performance of force feedback bilateral control.The”high transparency” teleoperation is realized between the master-slave actuators.(3)Based on the master-slave bilateral teleoperation,the preservation and reproduction of the operation motion are further considered.The method to deal with the uncertainty existing in the environment is studied.To solve the problem that the preservation operation motion can not be reproduced due to the change of environmental position,a phased motion reproduction control method is proposed.It realizes the complete reproduction of the preservation operation action and operation force in the environment.In this paper,from the anti-disturbance control of a single actuator to the bilateral control to the motion copying and reproduction,the force feedback control is gradually deepened as the core to solve the problem of improving the performance of the bilateral control system.A novel control method based on an adaptive sliding-mode-assisted disturbance observer is proposed,and complete theoretical proof and experimental verification are given.Compared with the traditional control method,the proposed method solves the problems that restrict the control performance to a certain extent,such as multi-source complex disturbance and the uncertainty of the controlled object.