Network Teleoperation System Fuzzy Variable Structure Control Study

The tele-manipulation robot system refers to a long-distant operating system which is to finish the comparably complex and fine operation under the manipulation of human beings in the inaccessible environment. Such environment is of long-distance, harmful to human beings or with difficulty in manipulation. The tele-manipulation robot that is based on control theory, robotics and communication technology could make the remote operation on distal robot possible. It expands the human homework space and enjoys broad application prospect in such areas as in remote telemedicine, space homework, industrial cooperative production areas etc.This article mainly aimed at the research on tele-manipulationg robot system's stability,transparency and influence of time delay and design a controller which not only can ensure the system's stability but also have a good performance, and realize scale position tracking and force tracking.Fuzzy variable structure control which have merits of variable structure control and fuzzy control is applied on tele-manipulationg robot system who is characterized by scale position tracking and force tracking. Specific research contents as follows:Firstly, this paper introduced research background and significance of teleoperation robot system and the research situations home and abroad . Various kinds control strategy of tele-manipulation robot system are analyzed and compared.Secondly, it introduced the structure and operational principle of network teleoperation robot system and made dynamics modeling to the representative single-degree-freedom tele-manipulation robot system. Then, it made a research to the stability and ideal performance and their realization of tele-manipulation robot system which is based on two-port network models.Thirdly, it examined the application of discrete sliding-mode variable structure control in tele-manipulation robot system and designed a new scheme of sliding-mode variable structure control and emulated it according to two situations of no delay and constant delay.Fourthly, it introduced fuzzy control theory according to the requirement of tele-manipulation robot system and control features of sliding-mode variable structure control and proposed a new scheme for fuzzy variable structure control to effective reduce chattering which is inherent in variable strueture control. Using a fuzzy rule, this scheme constructed fuzzy system based on equivalent control and switch control. The simulation indicated that the scheme realized trace according to place and power proportion of primary and secondary point of teleoperation robot system and better solved buffet problem and reached the design goal.Lastly, it constructed a set of single-degree-freedom tele-manipulation robot system, proved the stability and control effect of it and realized tracing control of place and power.Theoretical analysis and emulation experiment showed: the new scheme of fuzzy variable structure control examined in the paper could well satisfy performance index of the system and its requirement of stability. This was able to lay the foundations for later experiment and network teleoperation under random delay.