时延下遥微操作机器人系统滑模变结构控制研究  

Sliding-mode controller for tele-micromanipulation robot system with time delay

作　　者：曾庆军[1] 徐晶晶[1] 王艳[1] 

机构地区：[1]江苏科技大学电子信息学院,镇江212003

出　　处：《东南大学学报（自然科学版）》2008年第A02期172-176,共5页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金资助项目(60575051)

摘　　要：针对遥微操作机器人系统在实际远程手术应用中存在时延而易导致系统不稳定且难以控制的问题,通过系统动力学建模和时延下系统理想性能的定义,设计了一种保持系统稳定和良好操作性能的新型控制方案.在该方案中主机械手采用基于期望特性的阻抗控制而从机械手采用基于指数趋近律的滑模变结构控制策略.仿真实验结果表明了该方案的有效性和鲁棒性,系统能在时延下较好地实现位置比例跟踪和力比例跟踪.Tele-micromanipulation robot system may become unstable and hard to control in remote telesurgery operation due to the existence of communication time delay. In order to solve the problem, a new control scheme is designed which can guarantee stability and performance through modeling of scaled telemanipulation system and defining the ideal performance. In this new control scheme, the impedance control based on expectation characteristic is used for the master manipulator and the sliding-mode control based on exponent trend for the slave. The simulation curves show the validity and robustness of the designed controller and the system can attain better scaled tracking of position and force with time delay.

关 键 词：遥微操作机器人 滑模变结构控制 时延 比例跟踪 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]