Research On Synchronous Control Of Teleoperation Robots System

This paper mainly studied the synchronous control problem of master-slave teleoperation system,in which the master-slave robots are assumed to be serial operators and the upper and lower bounds of time delay are unknown,time-varying and asymmetric.Two kinds of controllers were considered: proportional differential(PD)control and proportional(P)control based on position information feedback.The Lyapunov stability theorem was used to calculate the nonlinear matrix inequality to ensure the delay stability of the closed-loop system.The stability time delay obtained in this paper improved compared with some existing literature research results,and some control calculation parameters were modified,so as to further ensure the stability of greater communication delay and improve the system transparency.For the proportional differential control,the control method was designed based on the actual application scenario where the operator is active and the environment is passive.The stability of the system was analyzed with the existing theory and the maximum time delay was obtained.For the proportional control,the control method with passive operator and environment was designed and the maximum time delay under this method was also given.The design of the two control methods is based on the basic theoretical model of the master-slave system of teleoperation,and the specific design method was given,and the control effect was explained and compared.In addition,this paper also studied the master-slave synchronous control of teleoperation under constant time delay.PD control model and P control model were designed respectively for the time-delay.The proportional control also added the feedback of position error information to achieve more stable control results.In order to obtain the lower conservatism of the system,the idea of time-delay decomposition was used to deal with the time-delay.Finally,the reasoning demonstration was given for the design of the two kinds of controllers,which proves the effectiveness of the design of the two kinds of controllers under the constant time delay.The results acquired by MATLAB show that the theoretical method proposed in this paper has a positive effect on the stability control of the system,and improves the result of solving the time delay,so as to improve the transparency and reduce the conservatism of the system.Figure 14;Table 2;Reference 50...