The Fuzzy Control Method For Networked Multilateral Teleoperation System

The teleoperation system combines the wisdom of human beings with the precision and power of robot operation masterly.This makes the teleoperation system with human-computer interaction features widely used in many fields,including space exploration,nuclear waste disposal,submarine operations,telemedicine and so on.With the expansion of the application field,the research on the teleoperation system has gradually deepened.In the era of rapid development of computer technology,the communication channel of the teleoperation system is generally established in the networked communication environment.Based on the performance requirements of the teleoperation system in practical applications,the paper discusses the following key issues of the system: Firstly,the communication delay between the master and slave systems in the networked environment,the existence of delay will produce the stability of system.Secondly,under dynamic operating conditions,the dynamic uncertainty and kinematic uncertainty that exist in the system lead to the inability to describe the system model with accurate mathematical formulas.Simultaneously,in the unknown structured complex environment,the unknown disturbances are present.The factors will also inevitably interfere with the normal movement of the system.Finally,when the bilateral system evolves into the multilateral system,the system model is further complicated.The high degree of nonlinearity and the coupling of the master and slave slide become the difficulties in the research of multilateral teleoperation systems.In view of the above problems,this paper mainly carries out the following research work:Firstly,the Euler-Lagrangian dynamics model and the robot kinematics model of the system are established,in the presence of the dynamic uncertainty,kinematic uncertainty and unknown external disturbance of teleoperation system.On this basis,the unknown input disturbance observer with filter is designed to observe the unknown external disturbance.At the same time,the sliding mode-based fuzzy adaptive controller designs on the master-slave end to estimate the dynamics and kinematic parameters of the system online.Combined with the disturbance observer,elimating the impact of the uncertainties and external disturbance on teleoperation system performance.The stability and tracking performance of the designed control are proved by Lyapunov stability method and Matlab simulation analysis.Secondly,based on the research of bilateral teleoperation system,consider the multi-master single-slave structure of the multilateral teleoperation system model,and use the T-S fuzzy control theory to linearize the nonlinear multilateral teleoperation system.Finally,in view of the parallel distributed compensation control strategy,the fuzzy controller is designed on the master and slave respectively,based on the linearized multilateral system model.The control coefficient matrix is added into the controller to describe the control authority of the master arms to the slave,in order to realize the stable movement of the slave arm under the coordinated control of the master side.The Lyapunov-Krasovskii function with time-delay dependence is constructed,and the stability judgment condition is established.The design method of controller gain is given.Finally,the effectiveness of the control method is verified by simulation results.