High telepresence control for the relay communication based space teleoperation

This paper studies the high telepresence control for the relay communication based space teleoperation. High telepresence requires real-time, accurate force perception and good position tracking, but all of them are destroyed or affected by time delay. To eliminate the influence of time delay, direct recursive generalized predictive control (DR-GPC) is quoted into this paper to realize position tracking. As for the other two properties, the pseudo position-force (Pseudo-PF) feedback strategy (composed of parameter identification and force reconstruction) is a good way as it can provide real-time and precise force feedback when environment change slowly and time delay is relatively small. However, complex and changeable environment and serious and complex time delay in space teleoperation make the environment force parameter available to force reconstruction is outdated and cannot realize accurate force rebuilding. To solve this problem, we propose a dual regression Pseudo-PF feedback strategy. Compared with the traditional one, its biggest change is the introduction of dual regression that consists of time delay prediction and parameter regression. The former predicts time delay and provides it to the latter to determine the forward prediction steps, while the latter regresses the actual latest and precise environment force parameter according to the forward prediction steps. With the cooperation of time delay prediction and parameter regression, the influence of fast changing environment or serious and complex time delay on force reconstruction can be effectively overcome, so as to realize real-time and accurate force feedback. Finally, DR-GPC and dual regression Pseudo-PF feedback strategies cooperate to achieve high telepresence control, and simulation is given to show its effectiveness.