Deakin University
Browse

File(s) under permanent embargo

Neural network adaptive control of teleoperation systems with uncertainties and time-varying delay

Version 2 2024-06-04, 02:21
Version 1 2019-06-25, 15:05
conference contribution
posted on 2024-06-04, 02:21 authored by PM Kebria, Abbas KhosraviAbbas Khosravi, S Nahavandi, Zoran NajdovskiZoran Najdovski, SJ Hilton
This paper studies the model uncertainties of Internet-based bilateral teleoperation systems under asymmetric time-varying delays. Generally, master and slave subsystems of a teleoperation process are robots with complex dynamics. This complexity makes the modelling process difficult, and usually with unavoidable uncertainties. Along with the latency through the communication network between the master and slave systems, the control problem becomes critical in terms of maintaining stability and performance of the system. Describing the modelling procedure and properties, this paper proposes an adaptive control scheme strengthened with a radial basis function (RBF) neural network (NN)-based algorithm to cope with the model uncertainties and also for stabilisation in the presence of time-varying delays. Using Lyapunov theorem, the stability analysis of the overall system under the proposed control method is investigated. Furthermore, simulation and experimental studies show the effectiveness and performance of this control for a teleoperation system.

History

Pagination

252-257

Location

Munich, Germany

Start date

2018-08-20

End date

2018-08-24

ISSN

2161-8070

eISSN

2161-8089

ISBN-13

9781538635933

Language

eng

Publication classification

E1 Full written paper - refereed

Copyright notice

2018, IEEE

Editor/Contributor(s)

[Unknown]

Title of proceedings

CASE 2018 : Proceedings of the 2018 IEEE 14th International Conference on Automation Science and Engineering

Event

IEEE Robotics and Automation Society. Conference (14th : 2018 : Munich, Germany)

Publisher

Institute of Electrical and Electronics Engineers

Place of publication

Piscataway, N.J.

Series

IEEE Robotics and Automation Society Conference

Usage metrics

    Research Publications

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC