Adaptive teleoperation system with neural network-based multiple model control
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Summary: This paper presents an adaptive teleoperation which is robust to time-delay and environmental uncertainties while assuring the transparent performance. A novel theoretical framework and algorithms for the teleoperation system have been built up with neural network-based multiple model control and time forward state observer. Conditions for stability and transparency performance are also identified. Simulations show that the system is stable and in good performance.
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- scientific article; zbMATH DE number 1340984
- Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under round-robin scheduling protocol
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- Model reference adaptive control design for a teleoperation system with output prediction
- An adaptive controller for nonlinear teleoperators
Cites work
- Bilateral parallel force/position teleoperation control
- DELAY-DEPENDENT STABILITY CRITERION FOR BIDIRECTIONAL ASSOCIATIVE MEMORY NEURAL NETWORKS WITH INTERVAL TIME-VARYING DELAYS
- Exponential stability for uncertain cellular neural networks with discrete and distributed time-varying delays
- Fault detection and control of process systems
Cited in
(16)- Adaptive neural network based prescribed performance control for teleoperation system under input saturation
- An adaptive regulator for space teleoperation system in task space
- A neural net predictive control for telerobots with time delay
- Adaptive neural network control for flexible telerobotic systems with communication constraints
- Bilateral telerobotic system using type-2 fuzzy neural network based moving horizon estimation force observer for enhancement of environmental force compliance and human perception
- Stability guaranteed teleoperation: an adaptive motion/force control approach
- Explicit time-delay compensation in teleoperation: an adaptive control approach
- Adaptive neural network control of bilateral teleoperation with unsymmetrical stochastic delays and unmodeled dynamics
- Predictive control of force telepresence systems based on neural network
- New nonlinear controller for a class of chaotic systems based on adaptive backstepping fuzzy-immune control
- Adaptive neural network control of bilateral teleoperation with constant time delay
- Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under round-robin scheduling protocol
- Neural network control of tele-rehabilitation robot based on variable parameter
- Adaptive neural learning fixed‐time control for uncertain teleoperation system with time‐delay and time‐varying output constraints
- A Stable and Transparent Framework for Adaptive Shared Control of Robots
- Model reference adaptive control design for a teleoperation system with output prediction
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