Research On Adding One Power Integral Finite Time Controller With Error Observer On Teleoperation Robot

Teleoperation robot can replace human hands to perform dangerous tasks,and the operator can sense the interaction force between the remote environment and the slave robot through the force feedback device,to identify the specific situation.However,due to the existence of communication delay and force feedback,the stability of teleoperation robot system is challenged.Therefore,this paper proposes a finite time controller based on power integral design method combined with a finite time convergent disturbance observer to improve the stability,rapidity,accuracy and robustness of the teleoperation system with force feedback.This controller enables the teleoperation system with force feedback to realize the complete feedback of the environment interaction force to the operator and ensure the tracking effect of the master-slave robot.Firstly,the dynamic model of the master-slave serial manipulator is established by Lagrange method,the dynamic equation of the teleoperation robot system is derived.Secondly,the finite time controller based on adding a power integral is derived by using the Lyapunov stability theorem,and the global stability of the controller is proved.The controller can make the master-slave synchronization error converge in finite time and improve the tracking velocity and accuracy of telerobot system.The experimental results show that the main manipulator can track the trajectory of the main manipulator quickly and accurately while the operator can feel the full and realistic force feedback under the condition of symmetrical or asymmetric time-varying delay.Finally,considering that there are unknown disturbances in the teleoperation system and external disturbances will have uncertain negative effects on the tracking effect of the system,this paper designs a finite time convergent disturbance observer based on the extended state theory to estimate the unknown disturbances in the system,and compensates the disturbances by introducing the model calculation to improve the robustness of the system.The experimental results show that the method is effective.The controller can estimate and compensate the disturbance of the system under the condition of symmetric or asymmetric delay,which improves the tracking accuracy and robustness of the teleoperation system.