Research On Cooperative Control Problems Of Teleoperation Systems Based On Neural Networks

This paper intends to study the cooperative control problem of teleoperation system.To address the uncertainties and time-varying delay difficulties in teleoperation,the cooperative control strategy with position error constraints for single-master-single-slave teleoperation system is investigated.In order to further explore the cooperative control problem,design the cooperative control strategy of single-master-multi-slave and quadrotor UAV teleoperation system.The main research results are as follows:1)For teleoperation system with asymmetric position error constraints,dynamic uncertainties,and time-varying delay,fixed-time master-slave synchronization control problem is proposed.First,an adaptive fixed-time control scheme incorporating Barrier Lyapunov Function(BLF)is designed,which can be applied to teleoperation with unconstrained or symmetric constraint states in addition to solving asymmetric constraint issues.Second,the adaptive radial basis function neural network(RBFNN)and linearly parameterizable control method are used for dealing with the uncertainties and time-varying delay problems of system.Next,it is demonstrated that the globally fixed-time stability performance of teleoperation can be achieved through the proposed control strategy and the asymmetric constraint requirements of the position synchronization errors are satisfied all the time.Finally,Matlab simulation validates the feasibility of the control method.2)A finite-time formation control scheme is put forward for teleoperation system with time-varying delay.First,a group of finite-time observers are established to address the teleoperation system with time-varying delay issue and via linearly parameterize to deal with the uncertainty in the system.The theory of self-stable domain(SSR)is then applied to provide sufficient circumstances for the observers error dynamics to converge in finite-time.Then,in line with the estimation of time delay derivatives to reconstruct the regression matrix as well as the adaptive law,the observer based time-varying formation control protocol is drawn up.On the basis of finite-time state-independent input-to-output practical stable(FTSIIOpS)theorem,sufficient conditions for teleoperation implement time-varying formation are developed.Finally,Matlab simulation is being used to validate the efficiency of the proposed strategy.3)For the collision avoidance problem of teleoperation quadrotor unmanned aerial vehicle(UAV),a simple proportional plus damping(P+d)control scheme is proposed.To begin,the P+d control scheme for the master and slave UAV header is proposed by introducing a proportional factor to deal with the mismatch problem and asymmetric time-varying delay that exist between the teleoperation and quadrotor system.Following that,collision avoidance controller for the slave aircraft is designed by collision avoidance functions,and the conditions for the slave UAV to satisfy collision avoidance are specified.Finally,the Lyapunov-Krasovskii generalization function is constructed,as well as the time-delay-dependent stability criterion,and this conclusion is validated via Matlab simulation.