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公开(公告)号：US20210213602A1
公开(公告)日：2021-07-15
申请号：US17145442
申请日：2021-01-11
申请人： Yanshan University
发明人： Yana Yang , Changchun Hua , Junpeng Li , Lu Gan , Yilu Wang
摘要： A full-state control method for a master-slave robot system with flexible joints and time-varying delays is provided. In a teleoperation system formed by connecting a master robot and a slave robot through network, a proportional damping controller based on a position error and velocities, and a full-state feedback controller based on backstepping are designed for the master robot and the slave robot, respectively. High-dimension uniform accurate differentiators are designed to realize an exact difference to the virtual controllers. Delay-dependent stability criteria are established by constructing Lyapunov functions. Therefore, the criteria for selecting controller parameters are presented such that the global stability of the master-slave robot system with flexible joints and time-varying delays is realized. For the master-slave robot system with flexible joints, the global precise position tracking performance is realized by adopting a full-state feedback controller based on the backstepping method and the high-dimensional uniform accurate differentiators. Moreover, the global asymptotic convergence of the system is guaranteed and the robustness of the system is improved.
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公开(公告)号：US20220088786A1
公开(公告)日：2022-03-24
申请号：US17541406
申请日：2021-12-03
申请人： Yanshan University
发明人： Changchun Hua , Yilu Wang , Yana Yang , Weili Ding , Liuliu Zhang , Shuang Liu , Guanglei Zhao , Wenliang Pei
摘要： The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.
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公开(公告)号：US11926063B2
公开(公告)日：2024-03-12
申请号：US17541406
申请日：2021-12-03
申请人： Yanshan University
发明人： Changchun Hua , Yilu Wang , Yana Yang , Weili Ding , Liuliu Zhang , Shuang Liu , Guanglei Zhao , Wenliang Pei
CPC分类号： B25J9/1689 , B25J3/00 , B25J9/163
摘要： The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.
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公开(公告)号：US11453114B2
公开(公告)日：2022-09-27
申请号：US17145442
申请日：2021-01-11
申请人： Yanshan University
发明人： Yana Yang , Changchun Hua , Junpeng Li , Lu Gan , Yilu Wang
摘要： A full-state control method for a master-slave robot system with flexible joints and time-varying delays is provided. In a teleoperation system formed by connecting a master robot and a slave robot through network, a proportional damping controller based on a position error and velocities, and a full-state feedback controller based on backstepping are designed for the master robot and the slave robot, respectively. High-dimension uniform accurate differentiators are designed to realize an exact difference to the virtual controllers. Delay-dependent stability criteria are established by constructing Lyapunov functions. Therefore, the criteria for selecting controller parameters are presented such that the global stability of the master-slave robot system with flexible joints and time-varying delays is realized. For the master-slave robot system with flexible joints, the global precise position tracking performance is realized by adopting a full-state feedback controller based on the backstepping method and the high-dimensional uniform accurate differentiators. Moreover, the global asymptotic convergence of the system is guaranteed and the robustness of the system is improved.
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