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Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints
Li ZJ(李智军); Xia YQ(夏元清); Wang, Dehong; Zhai, Di-Hua; Su CY(苏春翌); Zhao XG(赵新刚)
作者部门机器人学研究室
关键词Hybrid Force-motion Control Kinematic Uncertainty Networked Trilateral Teleoperation Neural Networks
发表期刊IEEE TRANSACTIONS ON CYBERNETICS
ISSN2168-2267
2016
卷号46期号:5页码:1051-1064
收录类别SCI ; EI
EI收录号20151900836848
WOS记录号WOS:000374989300002
产权排序1
资助机构National Natural Science Foundation of China [61174045, 61225015] ; Program for New Century Excellent Talents in University [NCET-12-0195] ; Ph.D. Programs Foundation of Ministry of Education of China [20130172110026] ; Foundation of State Key Laboratory of Robotics [2014-o07] ; Guangzhou Research Collaborative Innovation Projects [2014Y2-00507] ; National High-Tech Research and Development Program of China (863 Program) [2015AA042303]
摘要Most studies on bilateral teleoperation assume known system kinematics and only consider dynamical uncertainties. However, many practical applications involve tasks with both kinematics and dynamics uncertainties. In this paper, trilateral teleoperation systems with dual-master-single-slave framework are investigated, where a single robotic manipulator constrained by an unknown geometrical environment is controlled by dual masters. The network delay in the teleoperation system is modeled as Markov chain-based stochastic delay, then asymmetric stochastic time-varying delays, kinematics and dynamics uncertainties are all considered in the force-motion control design. First, a unified dynamical model is introduced by incorporating unknown environmental constraints. Then, by exact identification of constraint Jacobian matrix, adaptive neural network approximation method is employed, and the motion/force synchronization with time delays are achieved without persistency of excitation condition. The neural networks and parameter adaptive mechanism are combined to deal with the system uncertainties and unknown kinematics. It is shown that the system is stable with the strict linear matrix inequality-based controllers. Finally, the extensive simulation experiment studies are provided to demonstrate the performance of the proposed approach.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
关键词[WOS]OUTPUT-FEEDBACK CONTROL ; NONLINEAR-SYSTEMS ; BILATERAL TELEOPERATION ; COMMUNICATION DELAYS ; PREDICTIVE CONTROL ; STATE-FEEDBACK ; TIME-DELAYS ; OBSERVER ; DESIGN ; SYNCHRONIZATION
WOS研究方向Computer Science
引用统计
被引频次:21[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/18659
专题机器人学研究室
通讯作者Li ZJ(李智军)
作者单位1.Key Laboratory of Autonomous System and Network Control, Ministry of Education, South China University of Technology, Guangzhou, China
2.College of Automation Science and Engineering, South China University of Technology, Guangzhou, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
4.School of Automation, Beijing Institute of Technology, Beijing, China
5.Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada
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GB/T 7714
Li ZJ,Xia YQ,Wang, Dehong,et al. Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints[J]. IEEE TRANSACTIONS ON CYBERNETICS,2016,46(5):1051-1064.
APA Li ZJ,Xia YQ,Wang, Dehong,Zhai, Di-Hua,Su CY,&Zhao XG.(2016).Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints.IEEE TRANSACTIONS ON CYBERNETICS,46(5),1051-1064.
MLA Li ZJ,et al."Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints".IEEE TRANSACTIONS ON CYBERNETICS 46.5(2016):1051-1064.
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