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

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 uncerta...

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Autores principales:	Yaxiang Wang, Jiawei Tian, Yan Liu, Bo Yang, Shan Liu, Lirong Yin, Wenfeng Zheng
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	neural network method adaptive method teleoperation system time delay force feedback friction and disturbance Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/b20d98ecd79a4d18bd07eb4a4d2b7e8e
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id	oai:doaj.org-article:b20d98ecd79a4d18bd07eb4a4d2b7e8e
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spelling	oai:doaj.org-article:b20d98ecd79a4d18bd07eb4a4d2b7e8e2021-11-25T18:56:31ZAdaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation10.3390/s212274431424-8220https://doaj.org/article/b20d98ecd79a4d18bd07eb4a4d2b7e8e2021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7443https://doaj.org/toc/1424-8220A 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.Yaxiang WangJiawei TianYan LiuBo YangShan LiuLirong YinWenfeng ZhengMDPI AGarticleneural network methodadaptive methodteleoperation systemtime delayforce feedbackfriction and disturbanceChemical technologyTP1-1185ENSensors, Vol 21, Iss 7443, p 7443 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	neural network method adaptive method teleoperation system time delay force feedback friction and disturbance Chemical technology TP1-1185
spellingShingle	neural network method adaptive method teleoperation system time delay force feedback friction and disturbance Chemical technology TP1-1185 Yaxiang Wang Jiawei Tian Yan Liu Bo Yang Shan Liu Lirong Yin Wenfeng Zheng Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation
description	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.
format	article
author	Yaxiang Wang Jiawei Tian Yan Liu Bo Yang Shan Liu Lirong Yin Wenfeng Zheng
author_facet	Yaxiang Wang Jiawei Tian Yan Liu Bo Yang Shan Liu Lirong Yin Wenfeng Zheng
author_sort	Yaxiang Wang
title	Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation
title_short	Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation
title_full	Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation
title_fullStr	Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation
title_full_unstemmed	Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation
title_sort	adaptive neural network control of time delay teleoperation system based on model approximation
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/b20d98ecd79a4d18bd07eb4a4d2b7e8e
work_keys_str_mv	AT yaxiangwang adaptiveneuralnetworkcontroloftimedelayteleoperationsystembasedonmodelapproximation AT jiaweitian adaptiveneuralnetworkcontroloftimedelayteleoperationsystembasedonmodelapproximation AT yanliu adaptiveneuralnetworkcontroloftimedelayteleoperationsystembasedonmodelapproximation AT boyang adaptiveneuralnetworkcontroloftimedelayteleoperationsystembasedonmodelapproximation AT shanliu adaptiveneuralnetworkcontroloftimedelayteleoperationsystembasedonmodelapproximation AT lirongyin adaptiveneuralnetworkcontroloftimedelayteleoperationsystembasedonmodelapproximation AT wenfengzheng adaptiveneuralnetworkcontroloftimedelayteleoperationsystembasedonmodelapproximation
_version_	1718410547212320768

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

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