一种基于切换控制律的机器人双边遥操作方法

针对变时延下多自由度机器人在任务空间的遥操作问题，为在保证时延稳定性的同时提高其透明性和跟踪性，在一种比例微分+阻尼的任务空间双边控制器基础上，加入变增益切换控制律。结合性能需求，为不同操作模式设计合适的控制增益。在切换律中引入临界模态，保证系统在碰撞发生时切换控制的稳定性。利用李雅普诺夫理论证明系统在各模态下以及切换过程中的稳定性。通过对一个典型任务的仿真，校验该方法的有效性；同时，几组对比仿真试验也展示了该方法在稳定性和操作性上的优势。

A Switching Control Law Based Bilateral Teleoperation Approach for Robot

For the multi-degree of freedom teleoperation in task space under time-varying delays, in order to ensure stability of the system, and meanwhile to achieve the ideal operation performance, a new switching control law with varying gains based on a proportional differential (PD) damping task space bilateral controller is proposed. The control gains are designed to match the performance requirements according to different operation modes. A transition mode is introduced into the switching law to ensure the stability of the system when contacts happen. The stability of each mode and its switching rule is proved by using the Lyapunov theorem. The simulation of a typical mission shows the effectiveness of the proposed controller. Also, a series of contrast simulations demonstrate the controller′s superiorities in stability and operation performance.