Research On Force Feedback Control Methord For Networked Teleoperation Systems

Over the past decades,with the development of technology and the exploration for unknown realms,more and more environments need to be studied where are not suitable for human.Nowadays,the networked teleoperation technology has embraced in many applications such as nuclear accident rescue,space exploration,deep-sea operation and robotic telesurgery.But at present,the researches are mainly aimed at the stability of the teleoperation system,the analysis of transparency is not mature.The external forces are used in the control design rarely.In this paper,a high performance force observer is designed for the teleoperation system to estimate the external force information,and the force feedback controller is designed to make the teleoperation system have better transparency.The main works can be summarized as follows.Firstly,this paper introduces the dynamic system model of the teleoperation system and its dynamic characteristics.Additionally,the basic concepts of theory of stability and sliding-mode control are also introduced.Secondly,under the condition of only the teleoperation system position are known,the adaptive dual layer super twisting sliding mode observer is designed.It provides faster and more precisely estimation results.By designing the appropriate Lyapunov functions,the finite time stability of the teleoperation system has been proved.Simulations are presented to demonstrate the effectiveness of the proposed theoretical results.Finally,by adding the estimated external force information into the control strategy,the global force feedback controller are designed.By constructing the appropriate Lyapunov-Krasovskii functionals,The teleoperation system states are proved to be bounded stable under the specific linear-matrix-inequality(LMI)conditions.With the given controller-design parameters,the proposed stability criteria can be used to compute the allowable maximal transmission delay.Some simulations are presented to demonstrate the effectiveness of the proposed theoretical results.