Research On Synchronous Control Of Master-slave Manipulator System With Uncertain Model

With the economic development and technological progress,more and more mechanical equipments are used in daily life and industrial production.As a common and practical device,the manipulator plays an important role in today's production and life.The manipulator is a device with complex coupling,nonlinear,time-varying,and other complex dynamic characteristics,and there are various uncertainties,such as system unmodeled dynamics,external load changes,parameter measurement errors,external interference,and external attack signals,etc.,make it impossible to obtain an accurate mathematical model of the manipulator.Due to the existence of these uncertain factors,it has a serious impact on the control performance of manipulator system,especially for some systems that require high precision and high performance operation,it is particularly important to study the control problems in the presence of uncertainties and external disturbances in the system model.This paper mainly studies the situation that the communication channel of the manipulator system may be subjected to deception attacks from external attackers and the uncertainty of the model,and puts forward some effective control theories and algorithms.The main research contents of this article are as follows:Firstly,the mathematical model of the manipulator is modeled and analyzed,then some basic properties based on dynamic equations are given.Secondly,the graph theory,matrix analysis theory and Lyapunov stability theory are briefly introduced to provide a mathematical basis for subsequent research.Then regarding the synchronous control of the master-slave manipulator system,three effective control strategies are designed.First,research on the synchronization control problem of the master-slave manipulator system under the deception attack.The attack signal received by the system is described as a random sequence that conforms to the Bernoulli distribution.The random probability is used to represent the two conditions of the system,being attacked and safe.A synchronization strategy based on impulsive control is proposed,and through the simulation of the two-link manipulator system to verify the effectiveness of the designed control law.Second,it mainly studies the synchronization control problem of the master-slave manipulator system under the conditions of deception attack and communication delay,and a synchronization control strategy based on impulsive control is designed.The controller only uses the sampled data of each manipulator and its neighbors at discrete times,and based on a method of processing delayed pulses,a general sufficient consensus condition is obtained.Finally,simulation examples will be given to verify the validity of the theoretical results.Third,it mainly studies the case that the manipulator model has parameter uncertainty and the system communication channel may be subjected to deception attack.The amount of interference signals that attack the system and the uncertainties of the parameters of the manipulator model are combined and estimated,and then a synchronous control strategy is designed through a backstepping method combined with a nonlinear filter.Finally,a simulation example proves that the control algorithm is of well tracking ability.Finally,the main research results of this paper are summarized,some shortcomings in the research are pointed out,and the future further research is prospected.