非线性扩展状态基于观察者的控制,用于带有灵活关节的机器人系统的远程操作
Yongli Yan1, Fucai Liu2, Teng Ren3
1Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China.
Mathematical biosciences and engineering : MBE
|February 2, 2024
概括
这项研究介绍了一种使用非线性扩展状态观察器 (ESO) 和屏障Lyapunov函数 (BLF) 的新型远程操作控制器,以管理机器人操纵器的不确定性. 该控制器可显著降低远程操作系统的追踪误差,达到0.02rad.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械电子学是什么意思 机械电子学
背景情况:
- 由于关节的灵活性和操作限制,机器人操纵器的控制是复杂的.
- 远程操作引入了同步问题和外部干扰,放大了控制挑战.
研究的目的:
- 开发一种新的远程操作控制器,解决灵活关节和外部干扰的不确定性.
- 整合一个非线性扩展状态观测器 (ESO) 与一个屏障Lyapunov函数 (BLF) 进行可靠的控制.
- 为了适应远程操作系统的稳定时间延迟.
主要方法:
- 使用非线性扩展状态观察器 (ESO) 来估计灵活关节和外部干扰的不确定性.
- 一个基于障碍力普诺夫函数 (BLF) 的控制器将这些估计与系统操作约束相结合.
- 该控制器旨在管理远程操作固有的稳定时间延迟.
主要成果:
- 非线性ESO准确地估计了机器人操纵系统中的不确定性.
- 基于BLF的集成控制器有效地管理了这些不确定性和约束.
- 实验结果显示,远程操作系统的追踪错误显著减少,达到0.02rad.
结论:
- 拟议的远程操作控制器提高了机器人操纵系统的精度和可靠性.
- ESO和BLF的组合提供了一个强大的解决方案,用于在不确定性条件下控制柔性关节操纵器.
- 控制器显示出显著的潜力,以提高远程操作系统的性能.
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