Research On Teleoperation Robot System Based On Fast Adding One Power Integrator Finite Time Control Algorithm

Teleoperation robot systems allow operators to control robots in the field remotely to complete tasks.However,due to the delay of communication network,the teleoperation robot system with force feedback can provide the operator with the perception of environment interaction on the one hand,while the stability of the system will be affected.Therefore,a fast add one power integrator finite time control algorithm is designed in this paper to realize the stability control and the fast and accurate tracking of the master-slave trajectory of the teleoperation robot system with time-varying delay and force feedback.In addition,the system errors are constrained by the prescribed performance control to obtain the prescribed transient-state and steady-state performance.Firstly,the dynamical model of the Phantom Premiere 1.5HF tactile force feedback robot is carried out based on the Lagrange method,and the mathematical model of the force feedback teleoperation robot system is further established.Secondly,a fast adding one power integrator finite time control algorithm is designed for the teleoperation robot system.Based on Lyapunov stability theory,it is proved that the system can be stable in a finite time when the effect of delay and external disturbance are bounded.Compared with the traditional adding one power integrator finite time control method,the controller has faster error convergence rate,stronger robustness and smaller steady error.In order to prove that the control algorithm proposed in this paper is suitable for the actual teleoperation robot system,the experimental platform of teleoperation system is set up and the practical experiments are carried out.The simulation and practical experimental results show that the slave robot can track the trajectory of the master robot quickly and accurately under symmetric and asymmetric time-varying delay,and the operator can feel the environmental interaction force fed back to the master robot.Finally,in order to further improve the transient performance of the master/slave trajectory tracking of the teleoperation robot system and ensure that the errors in the process of rapid convergence are within a predetermined range,a prescribed performance finite time controller is designed.In this way,the error in the transient process can be controlled within a predetermined range while the master/slave trajectory tracking of teleoperation system convergent in finite time,and better transient stability performance can be obtained.In order to prove the effectiveness of the controller,the simulation and practical experiments of teleoperation system with symmetric and asymmetric time-delay are carried out when the slave robot has a large interaction force with the external environment.The experimental results show that the finite time controller with prescribed performance can control the errors in the transient process within a predetermined range,so as to reduce the master-slave trajectory tracking errors.