Research On Control Algorithm Of Teleoperation Robot System Under Random Time Delay

In order to solve the teleoperation system because of the instability caused by time delay and disturbance problems,this paper designs a continuous rapid nonsingular terminal sliding mode control and dynamic compensation filter switch the control algorithm of combining the teleoperation robot system in the case of a bounded delay and disturbance to achieve rapid and stable trajectory tracking,has good convergence and robustness.Firstly,the kinematic modeling of the master-slave robot is carried out by using the exponential method,and the dynamics modeling of the master-slave robot is carried out according to the Lagrange method,which lays a foundation for the control algorithm design of the teleoperation robot system.Secondly,a continuous fast non-singular terminal sliding mode control algorithm is designed to solve the problems of chattering and system state convergence in traditional sliding mode control.Then based on Lyapunov theorem,it is proved that the system can remain stable in finite time when the upper bound of external disturbance is known.The simulation platform of master-slave teleoperation system is established.The simulation results show that the algorithm can make the slave robot track the master robot quickly and stably without considering the network communication delay and the existence of bounded disturbance.Thirdly,in order to solve the system instability caused by the delay of masterslave teleoperating system,a dynamic compensation switching filter is designed,and combined with the continuous fast non-singular terminal sliding mode control algorithm,the master-slave robot can achieve stable master-slave trajectory tracking under random delay and bounded disturbance.Based on Lyapunov theorem,it is proved that the traditional system can be globally stable under the condition of bounded random delay.The simulation results show that the master-slave track tracking error is significantly reduced when the communication delay is random and the dynamic compensation switching filter is added.Finally,a practical master-slave teleoperation robot experimental platform is built.The operator controls the movement of the robot on the plane at the main end,and the robot at the secondary end can track it quickly and accurately.The experimental results show that the mean value and variance of the master-slave track tracking errors are reduced by adding the dynamic compensation switching filter.