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

Yaxiang Wang, Jiawei Tian, Yan Liu, Bo Yang, Shan Liu, Lirong Yin, Wenfeng Zheng

Sensors, Vol 21, Iss 22, p 7443 (2021)

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Bibliographic Details
Title Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation
Authors Yaxiang Wang, Jiawei Tian, Yan Liu, Bo Yang, Shan Liu, Lirong Yin, Wenfeng Zheng
Publication Year
2021
Source
Sensors, Vol 21, Iss 22, p 7443 (2021)
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.
Document Type
article
Language
English
Publisher Information
MDPI AG, 2021.
Subject Terms
neural network method, adaptive method, teleoperation system, time delay, force feedback, friction and disturbance, Chemical technology, TP1-1185
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