Robust Controller Design And Tracking Control For Teleoperation System

Teleoperation system transmits commands and behaviors ordered byhuman manipulator in master station and performs in remote station,thendesired performance and control can be realized. Thereby, greatly improvemanipulator safety and work efficiencies, economize cost, make full use ofhuman resource, and realize various moderate works. Therefore the researchand application about teleoperation system is very active in recent years.Firstly, robust controller design method based on state space formulationis presented for teleoperation system. Through choosing appropriate master andslave parameters, extended state equation about master and master-slave erroris obtained, and then delay-independent and delay-dependent criteria ofcontroller design are derived in terms of the Lyapunov stability theorem,controller parameters are obtained by the feasible of linear matrix inequalities.The design method can realized simply. Delay-dependent method adjustscontroller parameters according to different delay. Comparing with passivitymethod, the conservative selection of dissipating element applied to maintainsystem stability leads system to imperfect operation.Some paper about teleoperation system analyze system stability underdelay, others research tacking control, but have strict restricted condition. Forthese problems, the second part of this paper presented PD controller andsliding-mode controller for master and slave to tracking desired signalrespectively. To the master, a new delay-dependent stabilization criterion isachieved and then the master can follow the expected signal well under asimple PD controller, which parameters are obtained via the feasibility of theLMIs. The tuning parameters in the Layapunov function are added to decreasethe zoom times of inequality and conservation of LMIs. To make tracking errorsmall as soon as possible, we use fuzzy PD controller to substitute PDcontroller. The whole method of controller design is simple, no strict restrictedcondition, the stability of system and tracking performance can all be realized.The uncertainties of master and slave manipulator model are considered inthe last part of this paper and fuzzy sliding mode control scheme is proposedfor teleoperation system tracking desired signal. To the master, fuzzy slidingmode controller is induced to avoid coupling, time delay and uncertainty inteleoperation system, it achieve an equivalent control law in the sliding modecontrol and an auxiliary controller is designed to eliminate the approximationerror between the equivalent control law and fuzzy sliding mode control law.The slave fuzzy controller is used to compensate the uncertainty of model,sliding mode controller and PD controller are used to decrease the fuzzyapproximate error and to track desired signal, respectively. The advantage ofthis design method resides in no strict restricted condition to the uncertaintiesof master and slave model, simple fuzzy rules, system stability and trackingperformance are guaranteed.