Prediction display based control law for space tele-operation with large time-varying delays

摘要

A control method based on prediction display for space tele-operation under large time-varying delays is presented. The space tele-operation system is divided into several subsystems. First, design a passivity-filter algorithm to guarantee the stability of the communication channel subsystem. Then, compensate the dynamics of the master visual-reality robot and the salve real robot for the gravity, and propose a PD control law for joint torque control of the slave robot. Finally, the Lyapunov stability of the entire tele-operation interconnected system, which does not depend on system dynamics modeling accuracy, is proved theoretically. A space teleoperation simulation experiment platform is built. Under the condition of large time-varying delays, experiments are taken to verify the effectiveness of the method to guarantee the stabilty of the system, and improve vision telepresence of operators.