Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under Round-Robin scheduling protocol

Yuling Li; Kai Zhang; Kun Liu; Rolf Johansson; Yixin Yin

doi:10.1080/00207179.2019.1652853

Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under Round-Robin scheduling protocol

Yuling Li, Kai Zhang, Kun Liu^*, Rolf Johansson, Yixin Yin

^*Corresponding author for this work

School of Automation

Research output: Contribution to journal › Article › peer-review

13 Citations (Scopus)

Abstract

A neural-network-based adaptive control scheme is developed for bilateral teleoperation systems with single-master-multiple-slaves in the presence of dynamic uncertainties and communication constraint. Discrete-time data transmitting communication network with bandwidth limitation and time-varying communication delays is considered and the Round-Robin scheduling protocol is used to orchestrate the data transmission from multiple slaves to the master. Stability criteria of the closed-loop system are established by constructing appropriate Lyapunov-Krasovskii functionals. Simulation studies are performed to illustrate the effectiveness of the proposed control algorithm.

Original language	English
Pages (from-to)	1461-1474
Number of pages	14
Journal	International Journal of Control
Volume	94
Issue number	6
DOIs	https://doi.org/10.1080/00207179.2019.1652853
Publication status	Published - 2021

Keywords

Bilateral teleoperation
neural-network-based adaptive control
scheduling protocol
variable delays

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10.1080/00207179.2019.1652853

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Li, Y., Zhang, K., Liu, K., Johansson, R., & Yin, Y. (2021). Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under Round-Robin scheduling protocol. International Journal of Control, 94(6), 1461-1474. https://doi.org/10.1080/00207179.2019.1652853

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abstract = "A neural-network-based adaptive control scheme is developed for bilateral teleoperation systems with single-master-multiple-slaves in the presence of dynamic uncertainties and communication constraint. Discrete-time data transmitting communication network with bandwidth limitation and time-varying communication delays is considered and the Round-Robin scheduling protocol is used to orchestrate the data transmission from multiple slaves to the master. Stability criteria of the closed-loop system are established by constructing appropriate Lyapunov-Krasovskii functionals. Simulation studies are performed to illustrate the effectiveness of the proposed control algorithm.",

keywords = "Bilateral teleoperation, neural-network-based adaptive control, scheduling protocol, variable delays",

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AU - Yin, Yixin

PY - 2021

Y1 - 2021

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AB - A neural-network-based adaptive control scheme is developed for bilateral teleoperation systems with single-master-multiple-slaves in the presence of dynamic uncertainties and communication constraint. Discrete-time data transmitting communication network with bandwidth limitation and time-varying communication delays is considered and the Round-Robin scheduling protocol is used to orchestrate the data transmission from multiple slaves to the master. Stability criteria of the closed-loop system are established by constructing appropriate Lyapunov-Krasovskii functionals. Simulation studies are performed to illustrate the effectiveness of the proposed control algorithm.

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KW - neural-network-based adaptive control

KW - scheduling protocol

KW - variable delays

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JO - International Journal of Control

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ER -

Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under Round-Robin scheduling protocol

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Keywords

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