不确定遥操作系统带干扰观测器的自适应控制

摘要

Teleoperation systems are subject to different types of uncertainties which may degrade the transparency of the system or even make the system unstable. We develop an adaptive controller with disturbance observer （ACWDO） to deal with both the external disturbance and the internal dynamic parametric uncertainties in teleoperation systems. In this approach, we build a nonlinear dynamic model of teleoperation systems subject to external disturbance, and design the nonlinear disturbance observers for the master robot and the slave robot, respectively, to estimate and compensate for the external disturbances. After that, based on the disturbance observers, adaptive controllers are designed for the master robot and the slave robot, respectively, to deal with the uncertain dynamic parameters. The designed ACWDOs are incorporated into a four-channel teleoperation system. Theoretical analysis and simulation results show that the controllers realize good position-trackin~ and force-tracking, with desired t~erformances and uuarantee the transnarencv of the teleoneratinn ~wtem%遥操作系统受到不同类型的不确定性因素影响，这些不确定性会降低系统的透明性，甚至会使得系统不稳定．本文提出了一种带干扰观测器的自适应控制器（adaptive controller with disturbance observer,ACWDO）用来处理遥操作系统中同时受到的外部干扰和内部动力学参数不确定性．首先建立了受外部干扰的遥操作系统的非线性动力学模型；然后分别对主机器人和从机器人设计非线性干扰观测器用来对外部干扰进行估计和补偿；之后在干扰观测器基础之上分别对主机器人和从机器人设计自适应控制器用来处理内部不确定的动力学参数；最后再将所设计的ACWDO融入到四通道遥操作系统结构中．理论分析和仿真结果表明，所设计的控制器可以取得良好的位置跟踪和力跟踪效果，确保了遥操作系统的透明性．