Title

Neural Network-Based Passivity Control of Teleoperation System under Time-Varying Delays

RIS ID

116163

Publication Details

D. Sun, F. Naghdy & H. Du, "Neural Network-Based Passivity Control of Teleoperation System under Time-Varying Delays," IEEE Transactions on Cybernetics, vol. 47, (7) pp. 1666-1680, 2017.

Abstract

In this paper, a novel neural network (NN)-based four-channel wave-based time domain passivity approach (TDPA) is proposed for a teleoperation system with time-varying delays. The designed wave-based TDPA aims to robustly guarantee the channels passivity and provide higher transparency than the previous power-based TDPA. The applied NN is used to estimate and eliminate the system's dynamic uncertainties. The system stability with linearity assumption on human and environment has been analyzed using Lyapunov method. The proposed algorithm is validated through experimental work based on a 3-DOF bilateral teleoperation platform in the presence of different time delays.

Please refer to publisher version or contact your library.

Share

COinS
 

Link to publisher version (DOI)

http://dx.doi.org/10.1109/TCYB.2016.2554630