Neural Network-Based Passivity Control of Teleoperation System Under Time-Varying Delays
نویسندگان
چکیده
منابع مشابه
FINITE-TIME PASSIVITY OF DISCRETE-TIME T-S FUZZY NEURAL NETWORKS WITH TIME-VARYING DELAYS
This paper focuses on the problem of finite-time boundedness and finite-time passivity of discrete-time T-S fuzzy neural networks with time-varying delays. A suitable Lyapunov--Krasovskii functional(LKF) is established to derive sufficient condition for finite-time passivity of discrete-time T-S fuzzy neural networks. The dynamical system is transformed into a T-S fuzzy model with uncertain par...
متن کاملA New Method for Bilateral Teleoperation Passivity under Varying Time Delays
A new framework is proposed to mitigate the adverse effect of time-varying time delays on the passivity of a teleoperation system. To this end, the communication channel with time-varying delays is modeled as a constant-delay channel along with additive output disturbances. Then, disturbance estimator blocks are added in each of the feedforward and feedback paths to estimate these disturbances ...
متن کاملStability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays
A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system's stability in the presence of large timevarying delays. The system stability in different scenarios of human and environment...
متن کاملStochastic Passivity of Uncertain Neural Networks with Time-Varying Delays
and Applied Analysis 3 dx t [ − C ΔC t x t A ΔA t f x t B ΔB t f x t − τ t u t ] dt σ t, x t , x t − τ t dω t 2.1 for t ≥ 0, where x t x1 t , x2 t , . . . , xn t T ∈ R is the state vector of the network at time t, n corresponds to the number of neurons; C diag c1, c2, . . . , cn is a positive diagonal matrix, A aij n×n, and B bij n×n are known constant matrices; ΔC t , ΔA t and ΔB t are time-va...
متن کاملAdaptive Control of Bilateral Teleoperation with Unsymmetrical Time-varying Delays
In this paper, adaptive control is proposed for master-slave teleoperation systems with dynamical uncertainties and unsymmetric time-varying delays in communication channels. With the technique of force-motion transformation based on impedance model, we can convert the objective of force reflection into motion synchronization. Using partial feedback linearization, the whole teleoperation dynami...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Cybernetics
سال: 2017
ISSN: 2168-2267,2168-2275
DOI: 10.1109/tcyb.2016.2554630