SIA OpenIR  > 机器人学研究室
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)
Department机器人学研究室
Source PublicationIEEE TRANSACTIONS ON CYBERNETICS
ISSN2168-2267
2016
Volume46Issue:5Pages:1051-1064
Indexed BySCI ; EI
EI Accession number20151900836848
WOS IDWOS:000374989300002
Contribution Rank1
Funding OrganizationNational 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]
KeywordHybrid Force-motion Control Kinematic Uncertainty Networked Trilateral Teleoperation Neural Networks
AbstractMost 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS KeywordOUTPUT-FEEDBACK CONTROL ; NONLINEAR-SYSTEMS ; BILATERAL TELEOPERATION ; COMMUNICATION DELAYS ; PREDICTIVE CONTROL ; STATE-FEEDBACK ; TIME-DELAYS ; OBSERVER ; DESIGN ; SYNCHRONIZATION
WOS Research AreaComputer Science
Citation statistics
Cited Times:32[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/18659
Collection机器人学研究室
Corresponding AuthorLi ZJ(李智军)
Affiliation1.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
Recommended Citation
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.
Files in This Item:
File Name/Size DocType Version Access License
Neural Network-Based(1199KB)期刊论文作者接受稿开放获取ODC PDDLView Application Full Text
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Li ZJ(李智军)]'s Articles
[Xia YQ(夏元清)]'s Articles
[Wang, Dehong]'s Articles
Baidu academic
Similar articles in Baidu academic
[Li ZJ(李智军)]'s Articles
[Xia YQ(夏元清)]'s Articles
[Wang, Dehong]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Li ZJ(李智军)]'s Articles
[Xia YQ(夏元清)]'s Articles
[Wang, Dehong]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.