Fractional order sliding mode synchronous control method for teleoperation system based on event trigger mechanism
US11926063B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 3, 2021 |
| Grant date | Mar 12, 2024 |
| Priority date | — |
| Expiry date | Nov 29, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40181
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.