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本文针对多自由度遥操作机器人的可靠性控制问题进行了研究,采用时延估计在线获得机器人系统的未知动力学和外界干扰,并在控制过程中加以补偿.这里,我们利用一些满足一定概率分布的不相关的随机变量来表示遥操作机器人的概率性执行器故障.通过考虑遥操作机器人的概率性执行器故障和控制时变时延,我们建立了新的遥操作机器人模型.在此基础上,研究了遥操作机器人的可靠性控制.通过使用Lyapunov稳定性方法和随机系统理论,得到了遥操作机器人的执行器概率分布依赖的渐近均方稳定的充分性条件,其中该条件是以线性矩阵不等式的形式给出,从而非常便于计算机转化为凸优化问题进行求解.最后用一个仿真算例来验证本文给出方法具有以下作用:首先,在考虑遥操作机器人的概率性执行器的故障的情况下,本文提出方法可以很容易地得到控制输入时延的上界;其次,在不考虑遥操作机器人执行器故障时,本文提出方法依然可以使用;最后,在考虑遥操作机器人的概率性执行器故障时,本文提出的方法都可以为其设计理想的控制器.
In this paper, the problem of reliability control of multi-DOF telecontrol robots is studied, and the unknown dynamics and external disturbances of the robotic system are obtained online by using time-delay estimation and compensated during the control process. Here, we use some methods to satisfy certain probability distribution Of uncorrelated random variables to represent the probabilistic actuator failure of telemanipulation robots.We set up a new robotic telerobotic model by considering the probabilistic actuator failures of telemanipulation robots and controlling the time-varying delays , The reliability control of telecontrol robots is studied.The sufficiency conditions for the asymptotically mean square stability of actuator dependent probability distribution of teleoperator are obtained by using Lyapunov stability method and stochastic system theory, Matrix inequality, so that it is very convenient for the computer to solve the convex optimization problem.Finally, a simulation example is used to verify that the proposed method has the following functions: Firstly, considering the failure of the probabilistic actuator of the teleoperation robot In this case, the method proposed in this paper can easily control the input delay The method proposed in this paper can still be used without considering the actuator failure of the teleoperation robot.Finally, the method proposed in this paper can be used to design the ideal control for the robotic manipulator with probabilistic actuator failure Device.