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首页> 外文会议>International Conference on Information Science and Control Engineering >Design and Analysis of Position/Force Control in Teleoperation Systems with Disturbances
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Design and Analysis of Position/Force Control in Teleoperation Systems with Disturbances

机译：具有干扰的遥操作系统位置/力控制的设计与分析

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摘要

Simultaneous position and force tracking are two critical factors in teleportation systems to achieve transparency. In this paper, a new control scheme is proposed to guarantee asymptotic position and force tracking in teleportation systems with disturbances. To this end, two sliding mode controllers are designed for the master and the slave robots respectively and are incorporated into the 4-channel teleportation framework. In order to demonstrate the validity of the proposed control scheme, the performance of the overall teleportation control system is rigorously proved and analyzed in a mathematical way. The analysis results show that the designed teleportation control scheme can simultaneously achieve asymptotic position and force tracking performance of the master and the slave robots.
机译：同时的位置和力跟踪是在隐形运输系统中实现透明的两个关键因素。本文提出了一种新的控制方案，以保证具有干扰的隐形传送系统的渐近位置和力跟踪。为此，分别为主机器人和从机器人设计了两个滑模控制器，并将其合并到4通道远距传输框架中。为了证明所提出的控制方案的有效性，以数学方式对整个隐形传态控制系统的性能进行了严格的证明和分析。分析结果表明，所设计的隐形传态控制方案可以同时实现主从机器人的渐近位置和力跟踪性能。

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