Research On Control Algorithm Of Teleoperation Robot System Based On Sliding Mode Control

In recent years,teleoperation robot systems can replace human beings to work in dangerous environments that human beings cannot reach.Therefore,teleoperation technology has been widely used in space exploration,telemedicine,deep sea rescue and other complex environments.But the teleoperation system still exist many factors can lead to system instability,such as network delay and external disturbance,uncertainty,therefore.In order to improve the stability of the teleoperation system with master-slave robot trajectory tracking accuracy and fidelity of force feedback,in this paper,a control algorithm of adaptive fixed time convergence is proposed,and it is applied to the system of teleoperation mobile manipulator.The simulation results show that the teleoperation system based on this algorithm can not only achieve the accuracy of the trajectory tracking of the master and slave robots,but also guarantee the stability of the system under the Lyapunov stability theory,and have good anti-interference performance.In this paper,by using sliding mode control theory,adaptive control theory,Lyapunov stability theory,and referring to the relevant literature,the synchronous control problem of teleoperation robot system is studied.The main content is divided into the following three parts:In the first part,the Euler-Lagrange dynamic algorithm is introduced in detail,and the master end manipulator and the slave end mobile manipulator are modeled by EulerLagrange method,and the mathematical model of the teleoperation mobile manipulator system is given.At last,the system dynamic parameters and structure are introduced in detail.In the second part,Because the traditional terminal sliding mode control may encounter singularity in the convergence process of the system,that is,before the system state reaches the sliding mode surface,the controller cannot guarantee the bounded control signal.Therefore,a nonsingular terminal sliding mode control is studied in this paper.Here,a nonsingular terminal sliding mode surface is proposed.Because the derivative of the sliding mode surface along the system dynamics does not lead to a negative fractional power,and the system state can reach the sliding mode surface from any position in the phase plane,the singularity problem can be well solved.Based on the theory of nonsingular terminal sliding mode control,a finite-time convergence control algorithm is designed for the teleoperation robot system.The algorithm can ensure that the system error converges to zero in finite time.The simulation results show that the algorithm is effective.In the third part,the telecontrol mobile manipulator system with variable time delay and external disturbance is studied.The mobile manipulator is divided into two subsystems for analysis,namely,the non-holonomic constrained mobile platform and the holonomic constrained manipulator,coupling terms between the two subsystems are considered as disturbances,and an adaptive fixed time convergence control algorithm theory is proposed to deal with lumped disturbances in the system.Lyapunov stability theory proves that the stability of the system under this algorithm can be guaranteed,and the simulation results verify the effectiveness of the algorithm.