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Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints
文献类型：期刊论文
| 作者 | 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)
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| 刊名 | IEEE TRANSACTIONS ON CYBERNETICS
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| 出版日期 | 2016 |
| 卷号 | 46期号:5页码:1051-1064 |
| 关键词 | Hybrid force-motion control kinematic uncertainty networked trilateral teleoperation neural networks |
| ISSN号 | 2168-2267 |
| 产权排序 | 1 |
| 通讯作者 | 李智军 ; Wang, Dehong ; 苏春翌 ; 赵新刚 |
| 中文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Computer Science, Cybernetics |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | OUTPUT-FEEDBACK CONTROL ; NONLINEAR-SYSTEMS ; BILATERAL TELEOPERATION ; COMMUNICATION DELAYS ; PREDICTIVE CONTROL ; STATE-FEEDBACK ; TIME-DELAYS ; OBSERVER ; DESIGN ; SYNCHRONIZATION |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000374989300002 |
| 源URL | [http://ir.sia.cn/handle/173321/18659]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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