Time Delay System Approach To Synchronization Control Of Robot Teleoperation

Teleoperation technology have been widely used in aerospace,undersea exploration,nuclear industry and robotic telesurgery and other fields,it is teleoperation systems that have a broad prospects for development.However,with the introduction of the network,communication delays is usually unavoidable,and it may deteriorate system performance,and even destabilize the teleoperation systems.The synchronization control of teleoperators means the coordination errors of the master/slave robots asymptotically approach the origin.The conservativeness still exist,although the existing time delay system approach guarantee synchronization control of the teleoperation systems.In this thesis,the new time delay system approach is used for synchronization control of teleoperation systems,and to further reduce the conservativeness of the existing results.The main work of the thesis is summarized as follows:1.The synchronization analysis is investigated for a class of teleoperation systems with single degree of freedom.First the time-delay system model of teleoperators with single degree of freedom is established.In order to guarantee synchronization control of the teleoperation system as well as less conservativeness delay-dependent stability criteria,free-matrix-based integral inequality method is adopted for stability analysis,and the maximal upper bound of allowable communication delay is obtained.2.Integral inequality method is used for synchronization control of teleoperation system with multiple degrees of freedom in the case of fixed time delay.First the time-delay system model of teleoperators with multiple degrees of freedom in the ease of fixed time delay is established.In order to guarantee synchronization control of the teleoperation system as well as less conservativeness delay-dependent stability criteria,integral inequality method is adopted for stability analysis,then the state feedback control law based on the error signal and the reference signal is designed for synchronization,and the maximal upper bound of allowable communication delay is obtained.3.The synchronization control of teleoperators with multiple degrees of freedom in the case of time-varying delay is investigated.First the time-delay system model of teleoperators with multiple degrees of freedom in the case of time-varying delay is established.Then,the generalized extended state observer is designed to estimate and compensate perturbation caused by time-varying delay,and then reduce the influence of time-varying delay on the performance of teleoperation system.A number of illustrative examples and simulations,which are carried out by the Matlab,are given to show the effectiveness of the proposed design methods.Finally,the conclusion and future work are presented.