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

Yaxiang Wang1, Jiawei Tian2, Yan Liu2

  • 1School of Innovation and Entrepreneurship, Xi'an Fanyi University, Xi'an 710105, China.

Sensors (Basel, Switzerland)
|November 27, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a bilateral neural network adaptive controller for teleoperation systems. The controller enhances stability and tracking performance despite time delays and uncertainties.

Keywords:
adaptive methodforce feedbackfriction and disturbanceneural network methodteleoperation systemtime delay

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Artificial Intelligence

Background:

  • Teleoperation systems face challenges with time delays, external disturbances, and internal friction, impacting stability and performance.
  • Nonlinear uncertainties in complex systems hinder precise control and reliable force feedback.
  • Existing control methods struggle to effectively address these combined challenges in real-time.

Purpose of the Study:

  • To design a robust adaptive controller for bilateral teleoperation systems.
  • To guarantee the stability of force feedback systems despite constant time delays and nonlinear uncertainties.
  • To improve the tracking performance of teleoperation systems under uncertain conditions.

Main Methods:

  • A bilateral neural network adaptive controller was designed.
  • Neural network methods were employed to approximate the uncertain system model.
  • Adaptive estimation techniques were used to handle internal friction and external disturbances.

Main Results:

  • The designed controller ensures the stability of the teleoperation force feedback system.
  • Improved tracking performance was achieved in the presence of constant time delay and nonlinear uncertainties.
  • The controller effectively mitigates the influence of nonlinear uncertainties on system performance.

Conclusions:

  • The proposed neural network adaptive controller offers a robust solution for teleoperation systems with time delays and uncertainties.
  • This approach enhances both the stability and tracking accuracy of bilateral teleoperation.
  • The method provides a reliable way to manage complex system dynamics and external disturbances.