力反馈水下遥操作系统稳定性分析

在遥操作系统中, 为了提高操作者的交互感知能力, 通常将与环境的接触力反馈回主端. 然而, 反馈力会导致主端机器人的诱导运动, 使得主端机器人发出不准确的运动指令, 甚至导致闭环系统不稳定. 此外, 在作业过程中, 水下机械臂不可避免地受到洋流和海浪带来的外部干扰. 针对带有接触力反馈的水下遥操作系统, 本文设计了一种补偿主端位置漂移的辅助系统, 构造了有限时间干扰观测器, 并讨论了观测时间内系统状态的有界性, 进一步证明了整个闭环系统是指数输入–状态稳定的. 仿真结果表明, 该方法能够保证变时延和外部干扰条件下水下遥操作系统跟踪性能.

Stability analysis of teleoperated underwater manipulator system with contact force feedback

In order to provide human operator a better sense of remote interaction, the environmental force is usuallyfed back to the master site. However, the reflected force leads to undesirable induced master motion, which may sendan inaccurate motion command or even drive the whole system unstable. Additionally, the underwater vehicle inevitablysuffers from external disturbances, which are driven by the ocean currents and waves. In this paper, an auxiliary systemis constructed to compensate the master position drift for force-reflected teleoperation system. A finite-time disturbanceestimator is constructed. The boundedness of system states during the observation settling time is also discussed. The wholeteleoperator is proved to be exponentially input-to-state stable. Simulations are conducted to confirm that the proposedapproach can guarantee tracking performance of force reflected underwater teleoperation system with variable delay andexternal disturbances.