A new robust controller in the network-based teleoperation system with force feedback

摘要

In this paper, a robust controller is proposed which can reduce the impact of delay time on the bilateral force-reflecting teleoperation system and improve the stability, because delay has a serious influence on serviceability of the remote operated mechanical system. Since bilateral force feedback teleoperation system model is nonlinear, it is linearized firstly, and then a robust controller is proposed. The method ensures the stability of the system through pole assignment and LQR. The pre-estimated algorithm with a self-adaptive function is obtained by the relation of the sampling period and delay time. Finally, through the simulation, this method is confirmed to be able to effectively reduce deviation between the received data and the actual data, and thus increase the accuracy, while the transparency of the system is also improved.