Research On Teleoperation System Control Strategy Based On ESO

Teleoperation robot system refers to the system in which the operator operates the master robot to make the remote slave follow the movement of the master,so as to complete some tasks in the remote complex or dangerous environment,and expand the ability of human to perceive and operate remote objects.At present,teleoperation system is widely used in various fields,such as telemedicine surgery,deep-sea exploration and so on.Although the teleoperation technology has made initial achievements in the research field,it still has a long way to go in the future and has great potential and development space.Especially for telemedicine surgery,with the progress of science and technology,people have higher and higher requirements for medical technology and equipment accuracy.Some practical problems in telemedicine surgery system that cannot be ignored,such as internal disturbance,flexible joint of surgical robot and transmission delay,make the research more difficult.Based on this,this paper focuses on the teleoperation system,based on the theory of active disturbance rejection control(ADRC),and studies the synchronization control of the teleoperation system in the presence of communication delay,flexible joints and other complex problems,laying a theoretical foundation for the control research of the telesurgery robot system.Firstly,a proportional damping controller is proposed for the stability of a teleoperation system with time-varying delay.An extended state observer(ESO)is designed to estimate the internal uncertainties and external disturbances of a real system.The lyapunov-krasovski stability criterion related to time delay is constructed,and the stability and synchronization performance of teleoperation system are proved and analyzed.Secondly,a full state constrained controller is proposed for the synchronous control of a teleoperation system with flexible joints under constant time delay.Considering the internal uncertainty and external disturbance in the teleoperation system,nonlinear ESO is designed to estimate the disturbance part,and the estimated value is introduced into the controller to compensate the influence of disturbance.Based on the barrier Lyapunov function,a full state constraint control strategy was constructed to realize the master-slave robot synchronous control and meet the performance requirements of the system state constraints in practical applicationsFinally,a discrete sliding mode controller is proposed for the synchronization control of a teleoperation system in a packet switched communication network.An adaptive extended state observer(AESO)is designed to accurately estimate system states and disturbances in a timely manner.A new sliding mode control law is designed based on discrete approach law method,the reachability of discrete sliding mode is proved,and the bandwidth of quasi-sliding mode is given.The discrete sliding mode controller is designed and the relative stability condition is given to realize the synchronization control performance of the teleoperation system.