A speed coordination control method based on D-S evidence synthesis theory

被引：0
|
作者：
Zhang, Wei [1 ,2 ]
Li, Feng [1 ,2 ,3 ]
Li, Junlin [1 ,2 ]
Cheng, Qinkun [1 ,2 ,3 ]
Zhang, Xiaoqian [1 ,2 ,3 ]
Xu, Yansong [1 ,2 ,3 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
[2] Chinese Acad Sci, Inst Robot & Intelligent Mfg, Shenyang, Peoples R China
[3] Univ Chinese Acad Sci, Beijing, Peoples R China
来源：
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2025年 / 47卷 / 05期
关键词：
Space teleoperation; speed coordination; cascade PID control structure; adaptive control; D-S evidence theory; MANIPULATORS;
D O I：
10.1177/01423312241263395
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive speed coordination control method based on Dempster-Shafer (D-S) evidence synthesis theory is proposed to achieve the speed coordination of the slave manipulator under the condition of a large transmission delay in space teleoperation. First, the D-S evidence synthesis theory is applied to transform the speed coordination rule method. The model for predicting the manipulator's future state is given to gain confidence in each state. Subsequently, performance comparison experiments of D-S evidence synthesis control theory, cascade control, fuzzy control, and adaptive fuzzy control are completed on the 3-degree-of-freedom (3-DOF) manipulator simulation platform. Finally, according to the experimental results, the accuracy of D-S evidence synthesis theory is 7.49% better than cascade control, 16.84% better than fuzzy control, and 28.45% better than adaptive fuzzy control. The adaptability of D-S evidence synthesis theory is generally superior to cascade control, slightly inferior to fuzzy control and inferior to adaptive fuzzy control.
引用
收藏
页码：908 / 925
页数：18
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