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

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Transactions of the Institute of Measurement and Control Pub Date : 2024-07-27 DOI:10.1177/01423312241263395

Wei Zhang, Feng Li, Junlin Li, Qinkun Cheng, Xiaoqian Zhang, Yansong Xu

{"title":"A speed coordination control method based on D-S evidence synthesis theory","authors":"Wei Zhang, Feng Li, Junlin Li, Qinkun Cheng, Xiaoqian Zhang, Yansong Xu","doi":"10.1177/01423312241263395","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.7000,"publicationDate":"2024-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transactions of the Institute of Measurement and Control","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1177/01423312241263395","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

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.

查看原文本刊更多论文

基于 D-S 证据综合理论的速度协调控制方法

提出了一种基于 Dempster-Shafer （D-S）证据合成理论的自适应速度协调控制方法，以实现空间遥操作中大传输延迟条件下从动机械手的速度协调。首先，应用 D-S 证据综合理论对速度协调规则方法进行转换。给出了预测操纵器未来状态的模型，以获得对每个状态的置信度。随后，在三自由度（3-DOF）操纵器仿真平台上完成了 D-S 证据合成控制理论、级联控制、模糊控制和自适应模糊控制的性能对比实验。最后，根据实验结果，D-S 证据合成理论的精度比级联控制高 7.49%，比模糊控制高 16.84%，比自适应模糊控制高 28.45%。D-S 证据合成理论的适应性总体上优于级联控制，略逊于模糊控制，逊于自适应模糊控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Transactions of the Institute of Measurement and Control 工程技术-仪器仪表

CiteScore

4.10

自引率

16.70%

发文量

203

审稿时长

3.4 months

期刊介绍： Transactions of the Institute of Measurement and Control is a fully peer-reviewed international journal. The journal covers all areas of applications in instrumentation and control. Its scope encompasses cutting-edge research and development, education and industrial applications.