Neural Network-Based Passivity Control of Teleoperation System Under Time-Varying Delays

被引：77

作者：

Sun, Da ^{[1
]}

Naghdy, Fazel ^{[1
]}

Du, Haiping ^{[1
]}

机构：

[1] Univ Wollongong, Fac Engn & Informat Sci, Wollongong, NSW 2500, Australia

来源：

IEEE TRANSACTIONS ON CYBERNETICS | 2017年 / 47卷 / 07期

关键词：

Bilateral teleoperation; neural network (NN); passivity; time domain passivity approach (TDPA); time-varying delays; wave variable; BILATERAL TELEOPERATION; POSITION TRACKING; ADAPTIVE-CONTROL; ROBOT; SYNCHRONIZATION; MANIPULATORS;

D O I：

10.1109/TCYB.2016.2554630

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a novel neural network (NN)-based four-channel wave-based time domain passivity approach (TDPA) is proposed for a teleoperation system with time-varying delays. The designed wave-based TDPA aims to robustly guarantee the channels passivity and provide higher transparency than the previous power-based TDPA. The applied NN is used to estimate and eliminate the system's dynamic uncertainties. The system stability with linearity assumption on human and environment has been analyzed using Lyapunov method. The proposed algorithm is validated through experimental work based on a 3-DOF bilateral teleoperation platform in the presence of different time

引用

页码：1666 / 1680

页数：15

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