Research On Master-Slave Collaborative Control Of Networked Multiple-Master/Multiple-Slave Nonlinear Teleoperation System

The multiple-master/multiple-slave teleoperation system has the advantages of multilateral collaboration,which can improve efficiency,precision,dexterity,load capacity and processing capacity,and has a wide range of applications in the fields of heavy object handling,space structure construction,surgical training,and remote rehabilitation treatment.However,unlike the traditional bilateral teleoperation system,the multiple-master/multipleslave teleoperation system involves various uncertainties and complex problems such as multi-master and multi-slave collaboration.These problems pose challenges to the stability analysis,control strategy design and transparency analysis of the system.The main research content of this paper is to design a new control strategy for system to achieve good masterslave collaboration and improve the robustness,transparency,flexibility and other performance of the system.Therefore,how to design a satisfactory control strategy while considering complex multilateral cooperation relationships,external disturbances and internal system uncertainties is the core issue of this paper.The research content of this paper can be summarized as follows:(1)For the multiple-master/multiple-slave teleoperation system with the same cooperation mode at the master-slave end,a fixed-time collaborative control strategy based on sliding mode is proposed.Firstly,under the premise that the master-slave end has the same collaboration mode,a multilateral collaboration framework based on virtual masterslave robot is constructed for the system,so as to simplify the complex dynamic interaction brought by multilateral cooperation and effectively improve the transparency and availability of the system.Secondly,for the uncertainty problem,a new fixed-time disturbance observer is designed for the master and slave ends to estimate and cancel out the unknown uncertainty terms.Finally,based on sliding mode and disturbance observer,a fixed-time collaborative control strategy is designed for multiple-master/multiple-slave teleoperation system to ensure that the tracking error of the master-slave end of the system converges to the origin within a fixed time,and at the same time improves the robustness and convergence accuracy of the system.The sufficient conditions for maintaining the predefined-time stability of the system are obtained through systematic Lyapunov stability analysis.In the end,simulations are performed to prove the validity of the theoretical results.(2)Aiming at the multiple-master/multiple-slave teleoperation system with different cooperation modes at the master-slave end,a collaborative control strategy based on sliding mode predetermined time is proposed.First,a multilateral collaborative framework designed to enable the desired objectives for the system are presented in such a way that both cooperative and training applications will greatly improve the flexibility of the system compared to the approach presented in chapter III.Secondly,a novel predefined-time nonsingular sliding mode surface is designed which can force the states on it to the origin after the sliding mode surface is reached.Finally,the novel predefined-time sliding mode controller and disturbance observer is proposed and used to successfully address predefinedtime stabilization problems of the system with external disturbances and internal system uncertainties,and the convergence accuracy and transparency are also improved.The Lyapunov stability theorem is used to provide a theoretical basis for controller design.The simulation results further verify the effectiveness and superiority of the control strategy.