Adaptive Position and Force Tracking Control in Teleoperation System with Time-Varying Delays

doi:10.1007/978-3-030-27532-7_54

	Adaptive Position and Force Tracking Control in Teleoperation System with Time-Varying Delays
	Zhang, Haochen1,2 ; Song, Aiguo 1; Li, Huijun 1
	2019
会议名称	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
会议录名称	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
卷号	11741 LNAI
页码	613-624
会议日期	August 8, 2019 - August 11, 2019
会议地点	Shenyang, China
出版者	Springer Verlag
摘要	In this work, a novel position and force tracking control scheme are proposed in teleoperation system under time-varying delay and uncertain dynamics. First, two new auxiliary variables are designed for the master controller and slave controller. Second, the adaptive control laws based on Radial Basis Function (RBF) neural network are proposed. Then, the Lyapunov theory is used to verify the stability of the closed-loop teleoperation system. The main contribution of this work is the position error, position error integral, and force error are introduced into the auxiliary variable for the controller design to obtain the better position and force tracking effect. Finally, the system with the proposed control method is simulated to show effectiveness. © 2019, Springer Nature Switzerland AG.
关键词	Control theory Controllers Errors Navigation Radial basis function networks Remote control Robotics Time delay Time varying control systems Adaptive Control Force tracking RBF Neural Network Teleoperation systems Time varying- delays
DOI	10.1007/978-3-030-27532-7_54
收录类别	EI
语种	英语
EI入藏号	20193307318583
EI主题词	Adaptive control systems
ISSN	03029743
来源库	Compendex
分类代码	713 Electronic Circuits - 731.1 Control Systems - 731.5 Robotics - 732.1 Control Equipment
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	会议论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/117975
专题	电气工程与信息工程学院
通讯作者	Song, Aiguo
作者单位	1.Southeast Univ, Sch Instrument Sci & Engn, State Key Lab Bioelect, Jiangsu Key Lab Remote Measurement & Control, Nanjing 210096, Peoples R China; 2.Lanzhou Univ Technol, Coll Elect & Informat Engn, Lanzhou 730050, Peoples R China
第一作者单位	电气工程与信息工程学院
推荐引用方式 GB/T 7714	Zhang, Haochen,Song, Aiguo,Li, Huijun. Adaptive Position and Force Tracking Control in Teleoperation System with Time-Varying Delays[C]:Springer Verlag,2019:613-624.