一类不确定遥操作系统的混杂控制  

Hybrid Control for a Class of Uncertain Teleoperation Systems

作　　者：刘霞[1] 黄琦[2] 陈勇[2] 

机构地区：[1]西华大学电气信息学院,成都610039 [2]电子科技大学自动化工程学院,成都611731

出　　处：《电子科技大学学报》2012年第5期723-728,共6页Journal of University of Electronic Science and Technology of China

基　　金：四川省青年基金人才培养计划(09ZQ026-009);四川省应用基础项目(2009JY0008)

摘　　要：提出了一种基于自适应逆动力学和位置误差(PEB)结构的混杂控制方法,以克服动力学参数不确定性对遥操作系统透明性的影响。首先将操作者和环境模型分别融入到主、从机器人的动力学模型中;然后基于逆动力学设计自适应控制器,将其融入PEB结构,并利用李亚普诺夫函数法对系统性能进行了分析。仿真研究表明,该控制方案具有良好的位置和力跟踪性能。In this paper, a hybrid control based on adaptive inverse dynamics and position-error-based （PEB） architecture is proposed to overcome the dynamic parametric uncertainties and guarantee the transparency in teleoperation systems. First, the models of the human operator and the environment are incorporated into the dynamics of the master and the slave, respectively. Then, adaptive controllers based on inverse dynamics are designed and incorporated into PEB architecture. The performance of the system is studied by Lyapunov function. Simulation studies show that the proposed hybrid control method has good performances of position and force tracking.

关 键 词：混杂控制 遥操作系统 透明性 不确定性 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]