Research On Active Disturbance Rejection Control Of Bilateral Teleoperation System

The robotic teleoperation system is a comprehensive subject which includes robotics,network communications,control theory and so on.Teleoperation is a challenging topic with a number of applications,such as telesurgery,space and undersea exploration,and radiation detection.The research of domestic teleoperation system has started relatively later than it in the developed countries and is not very mature.Teleoperation system deserves enormous potential and space for the development based on the existing studies.Especially some unavoidable actual problems exist in the system,for example,system uncertainties,external disturbances,states constrains,input constrains and time delay,which increases the research difficulties.This paper aims at researching the synchronization problem based on the system which contains uncertainties,external disturbances,transmission delay.The experiments results validate the effectiveness of the proposed control strategy based on the teleoperation experimental platform.The main works of this paper can be summarized as follow.Firstly,a teleoperation experimental platform has been introduced which included hardware and software.We have get the Eulerian-Lagrangian system of teleoperation based on the single manipulator dynamical model.According to the Eulerian-Lagrangian system mode,the dynamics properties are illustrated.Secondly,the position synchronization problem is researched,and two novel control schemes have been proposed.In the process of the controller design,apply the extended state observer(ESO)to deal with the internal uncertainties and external disturbance in the master and slave side.Lyapunov function is designed to analysis the system stabilities and synchronization performance.Compared with the several controller schemes,the effectiveness of the proposed control strategy is more efficient through the experiments on the phantom.Finally,the stabilization problem of teleoperation system with time delays and actuator saturation is investigated via active disturbance rejection control(ADRC)in this paper.An linear extended state observer is introduced to deal with the lumped system uncertainties.Lyapunov functions are given to prove the stability of the closed-loop bilateral teleoperation system.The linear matrix inequality(LMI)conditions for determining the estimate of the domain of attraction of the resulting closed-loop system are formulated based on a quadratic candidate Lyapunov function and a generalized sector condition.Lastly,teleoperation experimental platform are used in the experiments to demonstrate the effectiveness of the ADRC in this paper and estimate the domain of attraction of the teleoperation experimental platform.