Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation

被引：18

作者：

Wang, Yaxiang ^{[1
]}

Tian, Jiawei ^{[2
]}

Liu, Yan ^{[2
]}

Yang, Bo ^{[2
]}

Liu, Shan ^{[2
]}

Yin, Lirong ^{[3
]}

Zheng, Wenfeng ^{[2
]}

机构：

[1] Xian Fanyi Univ, Sch Innovat & Entrepreneurship, Xian 710105, Peoples R China

[2] Univ Elect Sci & Technol China, Sch Automat, Chengdu 610054, Peoples R China

[3] Louisiana State Univ, Dept Geog & Anthropol, Baton Rouge, LA 70803 USA

来源：

SENSORS | 2021年 / 21卷 / 22期

关键词：

neural network method; adaptive method; teleoperation system; time delay; force feedback; friction and disturbance;

D O I：

10.3390/s21227443

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

A bilateral neural network adaptive controller is designed for a class of teleoperation systems with constant time delay, external disturbance and internal friction. The stability of the teleoperation force feedback system with constant communication channel delay and nonlinear, complex, and uncertain constant time delay is guaranteed, and its tracking performance is improved. In the controller design process, the neural network method is used to approximate the system model, and the unknown internal friction and external disturbance of the system are estimated by the adaptive method, so as to avoid the influence of nonlinear uncertainties on the system.

引用

页数：16

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