不确定遥操作系统带干扰观测器的自适应控制-控制理论与应用.PDFVIP

29 5 Vol. 29 No. 5 2012 5 Control Theory Applications May 2012 :2012 , , (1. , 610039; 2. , 611731) : , , . (adaptive controller with disturbance observer, ACWDO) . ; ; ; ACWDO. , , . : ; ; ; : TP273 : A Adaptive control with disturbance observer for uncertain teleoperation systems LIU Xia , HUANG Qi , CHEN Yong (1. School of Electrical and Information Engineering, Xihua University, Chengdu Sichuan 610039, China; 2. School of Energy Science Engineering, University of Electronic Science and Technology of China, Chengdu Sichuan 611731, China) Abstract: Teleoperation systems are subject to different types of uncertainties which may degrade the transparency of the system or even make the system unstable. We develop an adaptive controller with disturbance observer (ACWDO) to deal with both the external disturbance and the internal dynamic parametric uncertainties in teleoperation systems. In this approach, we build a nonlinear dynamic model of teleoperation systems subject to external disturbance, and design the nonlinear disturbance observers for the master robot and the slave robot, respectively, to estimate and compensate for the external disturbances. After that, based on the disturbance observers, adaptive controllers are designed for the master robot and the slave robot, respectively, to deal with the uncertain dynamic parameters. The designed ACWDOs are incorporated into a four-channel teleoperation system. Theoret