Adaptive neural network control of bilateral teleoperation with unsymmetrical stochastic delays and unmodeled dynamics

Zhijun Li*, Yuanqing Xia

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

36 引用 (Scopus)

摘要

In this paper, adaptive NN control is proposed for bilateral teleoperation system with dynamic uncertainties, unknown external disturbances, and unsymmetrical stochastic delays in communication channel to achieve transparency and robust stability. Compared with previous passivity-based teleoperation framework, the communication delays are unsymmetrical and stochastic. By partial feedback linearization using nominal dynamics, the nonlinear dynamics of the teleoperation system are transformed into two subsystems: local master/slave dynamics control and time-delay motion tracking. By integrating Markov jump systems and adaptive parameters updating, adaptive NN control strategy is developed. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov-Krasovskii functional synthesis under specific linear matrix inequalities conditions. The proposed adaptive NN control is robust against motion disturbances, parametric uncertainties, and unsymmetrical stochastic delay, which effectiveness is validated by extensive simulation studies.

源语言英语
页(从-至)1628-1652
页数25
期刊International Journal of Robust and Nonlinear Control
24
11
DOI
出版状态已出版 - 25 7月 2014

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