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

Journal: Sensors (Basel, Switzerland)
Published Date: Nov 9, 2021

Abstract

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.

Authors

  • Yaxiang Wang
    School of Innovation and Entrepreneurship, Xi'an Fanyi University, Xi'an 710105, China.
  • Jiawei Tian
    Department of Ultrasound, Second Affiliated Hospital of Harbin Medical University, 246 Xuefu Road, Harbin City, 150086, Heilongjiang Province, People's Republic of China. jwtian2004@163.com.
  • Yan Liu
    Department of Clinical Microbiology, Shanghai Tenth People's Hospital, School of Medicine, Tongji University, Shanghai, 200072, People's Republic of China.
  • Bo Yang
    Center for Cognition and Brain Disorders, Hangzhou Normal University, Hangzhou, Zhejiang Province 311121, China.
  • Shan Liu
    Department of Radiology, General Hospital of Ningxia Medical University, Yinchuan, China.
  • Lirong Yin
    Department of Geography and Anthropology, Louisiana State University, Baton Rouge, LA 70803, USA.
  • Wenfeng Zheng
    School of Automation, University of Electronic Science and Technology of China, Chengdu 610054, China.

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