摘要
一阶滑模控制方法由于需要大的带宽和高频切换信号,以及处理系统的参数不确定和强非线性,在双边遥操作的工程应用中难以推广。针对上述问题,将二阶滑模控制和阻抗控制联合起来,设计了大时延下的控制结构,并利用全维状态观测器对主从手机械臂的加速度、速度进行了观测,实现了双边遥操作系统的鲁棒平滑控制;在此基础上,分析了加入观测器后整个系统的闭环稳定性,给出了稳定性定理,并用李雅普诺夫函数方法进行了证明;最后分两种时延情况对闭环系统进行了仿真。实验结果表明,该方法可以使系统具有了较好的稳定性能。
First order sliding mode control needs a large bandwidth and high frequency switch to deal with parameteric uncertainties and hard nonlinearities.This requirement prevented the method form widely accepted in bilateral teleoperation applications.On this basis,the second order sliding mode control and impedance control were combined,the control structure under the large time delay was designed.The complete order observers were proposed to avoid measurement of acceleration,the robustness and fast tracking without chattering were realized.After the analysis of stabilization,Lyaponov function method was used to prove the stabilization theorem.Finally,the closed system were evaluated on the two different time delay.Experimental results show that this approach is valid and has encouraging stabilization performance.
出处
《机电工程》
CAS
2012年第4期469-473,共5页
Journal of Mechanical & Electrical Engineering
基金
国家高技术研究发展计划("863"计划)重点资助项目(2007AA704339)
关键词
双边控制
遥操作
二阶滑模控制
大时延
bilateral control
teleoperation
second order sliding mode control
large time delay
