力反馈水下遥操作系统稳定性分析  

Stability analysis of teleoperated underwater manipulator system with contact force feedback

作　　者：杨晛 陈传志 华长春[2] YANG Xian;CHEN Chuan-zhi;HUA Chang-chun(Institute of Information Science and Engineering,Yanshan University,Qinhuangdao Hebei 066004,China;Institute of Electrical Engineering,Yanshan University,Qinhuangdao Hebei 066004,China)

机构地区：[1]燕山大学信息科学与工程学院,河北秦皇岛066004 [2]燕山大学电气工程学院,河北秦皇岛066004

出　　处：《控制理论与应用》2022年第11期2115-2124,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(61973263);河北省自然科学基金优秀青年项目(F2021203056);河北省教育厅青年拔尖项目(BJ2020031);燕山大学新锐人才项目资助。

摘　　要：在遥操作系统中,为了提高操作者的交互感知能力,通常将与环境的接触力反馈回主端.然而,反馈力会导致主端机器人的诱导运动,使得主端机器人发出不准确的运动指令,甚至导致闭环系统不稳定.此外,在作业过程中,水下机械臂不可避免地受到洋流和海浪带来的外部干扰.针对带有接触力反馈的水下遥操作系统,本文设计了一种补偿主端位置漂移的辅助系统,构造了有限时间干扰观测器,并讨论了观测时间内系统状态的有界性,进一步证明了整个闭环系统是指数输入–状态稳定的.仿真结果表明,该方法能够保证变时延和外部干扰条件下水下遥操作系统跟踪性能.In order to provide human operator a better sense of remote interaction, the environmental force is usually fed back to the master site. However, the refiected force leads to undesirable induced master motion, which may send an inaccurate motion command or even drive the whole system unstable. Additionally, the underwater vehicle inevitably suffers from external disturbances, which are driven by the ocean currents and waves. In this paper, an auxiliary system is constructed to compensate the master position drift for force-refiected teleoperation system. A finite-time disturbance estimator is constructed. The boundedness of system states during the observation settling time is also discussed. The whole teleoperator is proved to be exponentially input-to-state stable. Simulations are conducted to confirm that the proposed approach can guarantee tracking performance of force refiected underwater teleoperation system with variable delay and external disturbances.

关 键 词：水下遥操作系统 时变时延 外部干扰 力反馈 稳定性分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]