Research On Fuzzy Predictive Control Of Network Teleoperation Robot System

Network teleoperation robot system achieves the remote control of the remote robotthrough computer networks, expanding human working space and having a broadapplication prospect. However, the problems of network delay and data loss will greatlyaffect the stability and operating performance of the system, so it has important significanceand application value to overcome the delay problem existed in network teleoperation robotsystem.In this paper, the modeling, stability analysis and time-delay work of the networkteleoperation are studied, and predictive control and fuzzy control are combined to design anew fuzzy-predictive controller to realize the position tracking and force feedback on thebasis of the stability of the system, which can overcome the network delay and modelmismatch problem. And moreover, a set of single degree of freedom network teleoperationrobot system is improved.Firstly, the article describes the background and significance of the topic, reviewingand analyzing the development status at home and abroad, and a solution for the delayproblem is proposed.Secondly, based on the dynamics model of system, several major modeling andstability analysis method are summarized and their respective advantages and disadvantagesare analyzed. The maturer and stronger passive two-port network model is selected finally.Thirdly, to solve the time-delay problem, the adaptive GPC controller is designed, andMATLAB simulation results both under the fixed and random delay show that the controllercan meet the requirements of system stability and operational performance and realizeposition tracking and force feedback.Fourthly, to solve the model mismatch problem, a fuzzy control is introduced in thefeedback correction aspect of GPC controller to design a new type of fuzzy predictivecontroller. Simulation results show that the controller can solve the mismatch problemeffectively, and ensure the stability of the system.Finally, a set of single degree of freedom network teleoperation robot system isimproved. The controller is designed based on LabVIEW environment, and positiontracking and force feedback experiments has been implied on the system.Theoretical analysis and experimental results show that the new type of fuzzypredictive controller has great control effect and stability, which can effectively solve the delay problem and lay the foundation for the further study of network system under longrandom time-delay.