水下机械手不确定遥操作自适应双边控制  

Adaptive bilateral control for underwater manipulator in uncertainty teleoperation

作　　者：张建军[1] 刘卫东[1,2] 高立娥[1,2] 李乐[1] 李泽宇[1] ZHANG Jianjun;LIU Weidong;GAO Li＇e;LI Le;LI Zeyu(School of Marine Science and Technology,Northwestern Polytechnical University,Xi＇an 710072,China;Science and Technology on Underwater Information and Control Laboratory,Northwestern Polytechnical University,Xi＇an 710072,China)

机构地区：[1]西北工业大学航海学院,西安710072 [2]西北工业大学水下信息与控制重点实验室,西安710072

出　　处：《北京航空航天大学学报》2018年第9期1918-1925,共8页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(61473224);国家重点研发计划(2016YFC0301700);中央高校基本科研业务费专项资金(3102017OQD069)~~

摘　　要：针对水下机械手遥操作过程中数学模型及外部干扰引起不确定问题提出了自适应双边控制策略。对主机械手模型参数与外部干扰引起的不确定,设计了基于名义模型的参考自适应阻抗控制律,根据主手力与从手力误差来调节期望模型的参考位置,利用自适应控制律补偿模型不确定性。针对从机械手的不确定性采用径向基函数(RBF)神经网络进行自适应补偿,通过设计滑模变结构控制器与鲁棒自适应控制器消除逼近误差,满足了从机械手对主机械手位置跟踪。设计了李雅普诺夫函数证明跟踪性能与全局稳定性,保证力-位置跟踪的渐进收敛性能。结果表明:整体控制在模型不确定及外部干扰条件下具有很好的力-位置跟踪能力,整体系统具有稳定性和可靠性,并且具有鲁棒性及自适应控制能力。An adaptive bilateral control strategy is proposed for the uncertainty of the mathematical model and external disturbances during the teleoperation of underwater manipulator. A reference adaptive impedance control law based on the nominal model is designed for the uncertainty of the parameters of the master manipulator model and the external disturbance. The reference position of the expected model is adjusted by the deviation between the force of operator and the slave manipulator,and the model uncertainty is compensated by the adaptive control law. Aimed at the uncertainty of slave manipulator,the adaptive compensation is achieved by the radial basis function（ RBF） neural network,and the approximation deviation is eliminated by the design of the sliding mode variable structure controller and the robust adaptive controller,which satisfies the position tracking of the slave manipulator to the master manipulator. The tracking performance and global stability are proved by Lyapunov function,and the asymptotic convergence of force-position tracking is guaranteed. The results show that the overall controller has good force-position tracking ability under the conditions of model uncertainty and external disturbance. The whole system is stable and feasible,and has robustness and adaptive control ability.

关 键 词：遥操作 阻抗控制 神经滑模控制 力-位置跟踪 鲁棒性 自适应 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]