网络遥操作机器人系统模糊变结构控制研究

摘要

Tele-manipulation robot system may become unstable and hard to control in practical application due to the existence of communication time delay. Based on system dynamics model and system ideal performance analysis with network time delay, a new fuzzy sliding-mode control scheme is designed ,in which the impedance control is used for the master manipulator, while the fuzzy sliding-mode control is used for the slave manipulator. The simulation results show the control strategy can effectively inhibit the jitter of variable structure control and attain better scale tracking of location and force.%针对网络遥操作机器人系统在实际应用中存在时延可能导致系统不稳定且难以控制的问题,通过对系统动力学建模和时延下系统理想性能分析,设计了一种新型的模糊滑模控制方案,在该方案中主机械手采用阻抗控制而从机械手采用模糊变结构控制.仿真结果表明,该控制方案能有效地抑制变结构控制中的抖振,系统能较好地实现位置比例跟踪和力比例跟踪.