滑模自适应同步控制的双主双从遥操作系统

doi:10.16182/j.issn1004731x.joss.19-0371

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (2): 366-376.doi: 10.16182/j.issn1004731x.joss.19-0371

• 仿真支撑平台/系统技术 • 上一篇下一篇

滑模自适应同步控制的双主双从遥操作系统

胡凌燕^1,2, 李世强¹, 付云^1,*

1.南昌大学信息工程学院, 江西南昌 330031;
2.南昌大学第二附属医院,江西南昌 330031

收稿日期:2019-07-23 修回日期:2019-09-02 出版日期:2021-02-18 发布日期:2021-02-20
通讯作者: 付云(1993-),男,博士,讲师,研究方向为机器人控制。Email：auyfu@ncu.edu.cn
作者简介:胡凌燕(1978-),女,博士,教授,研究方向为机器人控制。E-mail：hulingyan@ncu.edu.cn
基金资助:
国家自然科学基金(61563035,81960327),江西省杰出青年科学基金(20171BCB23008),江西省自然科学基金(20192BAB207029)

Sliding Mode Adaptive Synchronization Control Dual Master Dual Slave Teleoperation System

Hu Lingyan^1,2, Li Shiqiang¹, Fu Yun^1,*

1. School of Information Engineering, Nanchang University, Nanchang 330031, China;
2. The Second Affiliated Hospital of Nanchang University, Nanchang 330031, China

Received:2019-07-23 Revised:2019-09-02 Online:2021-02-18 Published:2021-02-20

摘要/Abstract

摘要： 针对双主双从遥操作系统中两从机械臂末端位姿的相对协调运动,分析了其中一个主从控制受到干扰时对两从端协调位置关系的影响,并据此提出了一种可行的同步位置控制,使双主双从遥操作系统在协调运动过程中主从位置误差和同步误差均同时收敛于零,实现了在主从机械臂按期望轨迹运动的同时保证两从端机械臂间的运动协调同步,并利用 Lyapunov 稳定性理论证明了系统的全局稳定性。验证了所提出的双主双从遥操作系统同步控制策略的正确性和有效性。

关键词: 双主双从, 遥操作, 同步控制, 协调搬运

Abstract: Aiming at the relative coordinated motion of the two-slave arms' end poses in the dual-master dual-slave teleoperation system, the influence on the coordinated positional relationship of the two slaves is analyzed when one of the master-slave controls is disturbed. A feasible synchronous position control method is propose which enables both the master-slave position error and the synchronization error of the dual master dual slave remote operating system to converge to zero during the coordinated motion When the master-slave arm moves along the desired trajectory, the coordination and synchronization of the movement between the two slave arms are ensured, and the global stability of the system is proved by the Lyapunov stability theory. The correctness and effectiveness of the synchronization control strategy of the dual master and dual slave teleoperation system are verified.

Key words: dual master and dual slave, teleoperation, synchronous control, coordinated handling

中图分类号:

TP391.9

胡凌燕, 李世强, 付云. 滑模自适应同步控制的双主双从遥操作系统[J]. 系统仿真学报, 2021, 33(2): 366-376.

Hu Lingyan, Li Shiqiang, Fu Yun. Sliding Mode Adaptive Synchronization Control Dual Master Dual Slave Teleoperation System[J]. Journal of System Simulation, 2021, 33(2): 366-376.

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滑模自适应同步控制的双主双从遥操作系统

Sliding Mode Adaptive Synchronization Control Dual Master Dual Slave Teleoperation System

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