Synchronization Control Of Teleoperation System Under Intermittent Communication

In recent years,the teleoperation system have received much attention due to their extensive applications in space exploration,military,medical,disaster relief,nuclear operations and other fields.Traditional teleoperation system usually consists of a humanoperated master robot and a subordinate robot that performs actual tasks.The two robots exchange information through a communication network to achieve remote operation.This mode of operation can effectively avoid human operator direct exposure to dangerous environments.However,communication latency is an inevitable problem in long-distance network transmission.Most existing studies only consider continuous communication latency,ignoring practical problems such as irregular delays and possible data loss in the communication channel.Moreover,these studies require strong latency assumptions that do not match the network conditions in harsh environments for teleoperation system.This paper focuses on teleoperation system under intermittent network transmission and aims to develop an adaptive control algorithm to ensure system synchronization in the face of constraints posed by intermittent data transmission.In intermittent network transmission,there are irregular delays and possible packet loss,which make data exchange intermittent in time,making stability analysis extremely challenging and unsolved to date.Therefore,the main research of this paper is to address these weak assumption communication conditions and design an adaptive control algorithm that can cope with intermittent communication problems to improve the performance of teleoperation system under intermittent network transmission.The main research work of this paper is outlined as follows:(1)The adaptive control strategies for synchronization problems in singlemaster/single-slave or multi-slave teleoperation system with unknown parameters under intermittent network transmission are addressed in this paper.The strategies aim to estimate unknown parameters online and dynamically adjust them to meet the performance requirements of the closed-loop system and reduce the impact of uncertainty.Moreover,the introduction of direct force feedback in the controller design can effectively avoid excessive damping being transmitted to the operator,while also avoiding the adaptive control treatment of human effort as "external interference".By adopting the control strategy proposed in this study,the synchronization performance of teleoperation system can be effectively improved.(2)A new dynamic event-triggered method for the single-master single-slave teleoperation system is designed.This method can significantly increase the interval between event occurrences and improve the performance of system.The infinite manipulabilty of single-master single-slave teleoperation system with degree one and static force reflection at each event-triggered instant,which can greatly improve the transparency of the system.In addition,the event triggering mechanism proposed in this paper can also be applied in single-master multiple-slave teleoperation system to reduce the update frequency of the controller and reduce computational resource consumption.(3)To address the synchronization control problem caused by intermittent network transmission in single-master multiple-slave teleoperation system,a distributed adaptive control algorithm based on virtual models and dynamic compensators is proposed to achieve synchronization of all subsystems.Compared with traditional control methods,the method proposed in this article,based on intermittent data exchange between robots in the teleoperation system,requires more lenient network conditions.It not only enhances system synchronization and control accuracy but also reduces communication costs and computational energy consumption through event-triggered mechanisms.