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针对机械臂遥操作系统中存在的时变时延问题,提出基于广义扩张状态观测器的控制方法,以实现遥操作系统稳定且主从机械臂关节角位置同步的控制目标.通过反馈线性化,将遥操作系统的主从机械臂动力学模型转化为一个关于位置跟踪误差和时延的状态空间模型.针对该多输入多输出的干扰不匹配模型,设计广义扩张状态观测器和相应的控制律,从而消除时变时延以及其他扰动引起的不确定性对系统的影响,并对系统进行稳定性和抗扰性分析.仿真实验验证了所设计的控制方法的有效性.
Aiming at the problem of time-varying delay in teleoperation system of manipulator, a control method based on generalized extended state observer is proposed to realize the control target of the stable position of teleoperation system and the angular position synchronization of the master-slave manipulator. By feedback linearization, The master-slave dynamics model of teleoperation system is transformed into a state space model of position tracking error and time delay. For the multi-input and multi-output interference mismatch model, a generalized extended state observer and corresponding control law , So as to eliminate the system delay caused by time-varying delay and other disturbances, and analyze the stability and immunity of the system.The simulation results show the effectiveness of the proposed control method.