Fu Jing, Xu Jing-Zhe, Ge Ming-Feng, Ding Teng-Fei, Park Ju H
School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, China.
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China.
ISA Trans. 2023 Sep;140:266-278. doi: 10.1016/j.isatra.2023.05.018. Epub 2023 May 25.
This paper investigates the teleoperation problem of networked disturbed mobile manipulators (NDMMs), in which the human operator remotely controls multiple slave mobile manipulators through a master manipulator. Each individual of the slave ones consisted of a nonholonomic mobile platform and a holonomic constrained manipulator that is mounted on the nonholonomic mobile platform. The cooperative control objective of the considered teleoperation problem includes: (1) synchronizing the states of the slave manipulators to the human-controlled master one; (2) forcing the mobile platforms of the slave ones to form a user-defined formation; (3) controlling the geometric center of all the platforms to track a reference trajectory. We present a hierarchical finite-time cooperative control (HFTCC) framework to achieve the cooperative control goal in a finite time. The presented framework includes the distributed estimator, the weight regulator and the adaptive local controller, where the estimator generates the estimated states of the desired formation and trajectory, the regulator selects the slave robot that the master one needs to track, as well as the presented adaptive local controller guarantees the finite-time convergence of the controlled states with model uncertainties and disturbances. Additionally, for improving the telepresence, a novel super twisting observer is presented to reconstruct the interaction force between the salve mobile manipulators and the remote operating environment on the master (i.e., the human) side. Finally, the effectiveness of the proposed control framework is demonstrated by several simulation results.
本文研究了网络化干扰移动机器人（NDMM）的遥操作问题，其中人类操作员通过主机器人远程控制多个从移动机器人。每个从机器人由一个非完整移动平台和一个安装在该非完整移动平台上的完整约束机器人组成。所考虑的遥操作问题的协同控制目标包括：（1）将从机器人的状态与人类控制的主机器人的状态同步；（2）迫使从机器人的移动平台形成用户定义的编队；（3）控制所有平台的几何中心以跟踪参考轨迹。我们提出了一种分层有限时间协同控制（HFTCC）框架，以在有限时间内实现协同控制目标。所提出的框架包括分布式估计器、权重调节器和自适应局部控制器，其中估计器生成期望编队和轨迹的估计状态，调节器选择主机器人需要跟踪的从机器人，并且所提出的自适应局部控制器保证在存在模型不确定性和干扰的情况下受控状态的有限时间收敛。此外，为了提高临场感，提出了一种新颖的超扭曲观测器，以在主（即人类）端重建从移动机器人与远程操作环境之间的相互作用力。最后，通过若干仿真结果证明了所提出控制框架的有效性。
