基于广义扩张状态观测器的遥操作系统同步控制-控制与决策.PDFVIP

第31 卷 第11 期 控 制 与 决 策 2016 年 11 月 Vol. 31 No. 11 Control and Decision Nov. 2016 文章编号: 1001-0920 (2016) 11-2077-06 DOI: 10.13195/j.kzyjc.2015.1090 基于广义扩张状态观测器的遥操作系统同步控制 张文安, 金俊凯, 俞 立, 陆 群 (浙江工业大学信息工程学院，杭州310023) 摘 要: 针对机械臂遥操作系统中存在的时变时延问题, 提出基于广义扩张状态观测器的控制方法, 以实现遥操作 系统稳定且主从机械臂关节角位置同步的控制目标. 通过反馈线性化, 将遥操作系统的主从机械臂动力学模型转化 为一个关于位置跟踪误差和时延的状态空间模型. 针对该多输入多输出的干扰不匹配模型, 设计广义扩张状态观测 器和相应的控制律, 从而消除时变时延以及其他扰动引起的不确定性对系统的影响, 并对系统进行稳定性和抗扰性 分析. 仿真实验验证了所设计的控制方法的有效性. 关键词: 遥操作；时延；同步控制；扩张状态观测器 中图分类号: TP242 文献标志码: A Synchronization control of teleoperation systems based on generalized extended state observers ZHANG Wen-an, JIN Jun-kai, YU Li, LU Qun (College of Information Engineering，Zhejiang University of Technology ，Hangzhou 310032 ，China ．Correspondent: ZHANG Wen-an ，E-mail ：wazhang@zjut.edu.cn) Abstract: This paper investigates the synchronization control problem for teleoperation systems with time-varying delays based on generalized extended state observers(GESO). The proposed controller ensures the stability of the teleoperation system as well as the synchronization of positions of the master and slave manipulators. By feedback linearization, the nonlinear dynamics of the teleoperation system is transformed into a state space model about tracking errors and time delay. Then, the GESO and the control law are designed for the multiple input multiple output model with mismatched uncertainties, and the GESO is able to estimate the uncertainties induced by the time-varying delay and other disturbance. Moreover, the stability and disturbance analysis are also presented for the teleoperation system. Fin