Design Of Controller On Teleoperation System With Time-delay

With the development of space exploration and demands for tele-medical services,teleoperation have been extensively studied. Due to its great potential value in application and theory, teleoperation system have been a focus in the literature. Especially, Internet-based teleoperation systems are emerging in recent years, which greatly challenge the control theory to stabilize and transparency of the systems. There are some difficulties to design the controller for teleoperation systems, such as time-delay, which exist in communication channels when master and slave exchanging information. Flexible joints, as one of the underactuated manipulators, the flexible-joint manipulators were used in space exploration and tele-medical. System uncertainties, unknown kinematics and dynamics, stochastic delays. To solve the problems, teleoperation systems with rigid joints or flexible joints have been researched in this paper.In this thesis we study the flexible joint motion synchronization in joint sapce. For the single-master-single-slave underactuated teleoperation system with uncertain model and time delays, a PD controller is proposed to achieve motion synchronization. Different from the previous work. we consider trilateral teleoperation systems involving dual-master and single-slave rigid manipulators. The network delay is modeled as stochastic delay with probability distributions governed by an underlying Markov chain, an adaptive neural network approximation method based on LMI were proposed to deal with the asymmetric stochastic time-varying delays, kinematics and dynamics uncertainties. And the motion/force synchronization achieved finally. For the single-master-muti-slaves flexible joint system with dynamic uncertainties, we propose an innovative acombined fuzzy control scheme, consisting of PD and adaptive fuzzy control to enforce motion/force coordination in task space between master and slave which have several flexible joints cooperate with each other. We built the Lyapunov equation for the designed controller to prove its stability and simulations are presented for evaluating the control method and theory. Finally, we make a summarization and expectation for teleoperation systems.