基于自适应事件触发通信和力估算器的远距操作系统固定时间控制

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-09-16 DOI:10.1017/s0263574724001310
Xia Liu, Hui Wen
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引用次数: 0

摘要

针对一类具有时变延迟和有限带宽的远程操作系统,提出了一种基于自适应事件触发通信和力估计器的固定时间控制策略。设计了两个力估算器来代替力传感器估算操作员力和环境力。利用位置、速度、力估计信号和触发误差,设计了一种自适应事件触发方案,可自动调整触发阈值以降低通信网络的访问频率。利用事件触发时刻传输的状态信息,同时考虑时变延迟,设计了一种固定时间滑动模式控制器,以实现位置和力跟踪。系统的稳定性和跟踪误差在固定时间内的收敛性得到了数学证明。实验结果表明,该控制策略可显著减少信息传输,提高带宽利用率,并确保远程操纵系统的跟踪误差在固定时间内收敛。
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Fixed-time control of teleoperation systems based on adaptive event-triggered communication and force estimators

A fixed-time control strategy based on adaptive event-triggered communication and force estimators is proposed for a class of teleoperation systems with time-varying delays and limited bandwidth. Two force estimators are designed to estimate the operator force and environment force instead of force sensors. With the position, velocity, force estimate signals, and triggering error, an adaptive event-triggered scheme is designed, which automatically adjusts the triggering thresholds to reduce the access frequency of the communication network. With the state information transmitted at the moment of event triggering while considering the time-varying delays, a fixed-time sliding mode controller is designed to achieve the position and force tracking. The stability of the system and the convergence of tracking error within a fixed time are mathematically proved. Experimental results indicate that the control strategy can significantly reduce the information transmission, enhance the bandwidth utilization, and ensure the convergence of tracking error within a fixed time for teleoperation systems.

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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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