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针对遥操作系统所处未知扰动环境建模的问题,提出一种无环境力反馈的具有扰动补偿能力的自适应控制器,并将其与双边控制结构相结合。首先,建立了受未知环境不确定性影响的遥操作系统非线性动力学模型,设计了自适应扰动补偿方法,利用自适应神经网络处理未知环境模型的问题,进而给出了时延上界和时延变化率上界已知情况下系统渐进稳定的充分条件。仿真实验结果表明,所设计的控制器能够保证良好的位置跟踪能力,环境适应性强,证明了方法的有效性。
Aimed at the problem of unknown disturbance environment modeling in teleoperation system, an adaptive controller with disturbance compensation capability without environment force feedback is proposed and combined with the bilateral control structure. Firstly, the nonlinear dynamics model of teleoperation system, which is influenced by the uncertainty of unknown environment, is established. The adaptive disturbance compensation method is designed and the problem of unknown environment model is solved by using adaptive neural network. Then the upper bound of delay and Sufficient conditions for the system to be asymptotically stable under the condition of the upper bound of the rate of change of delay. Simulation results show that the designed controller can ensure good position tracking ability and strong environmental adaptability, which proves the effectiveness of the method.