Adaptive teleoperation control method based on RBF-Neural Networks and performance analysis

Ruizhou Cheng, Panfeng Huang, Zhenyu Lu

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

This work presents an adaptive teleoperation control method based on RBF-Neural Networks. First, the model of the teleoperation system with two slave robots is built. Then the controllers of the slaves and masters are designed separately. For the slave side, the dynamic uncertainties are considered as the main factor to influence the system stability, which is estimated by the RBF-Neural Networks (RBF-NNs). The structure parameters of the masters are known before the operation. Furthermore, we discuss the system stable conditions and position tracking effect of the slaves to the maters' motions. The proofs reveal that the system will converge to the stable states based on the assumptions that the estimating errors are smaller than a threshold value. The final tracking errors are corresponding with bounding values of the estimating errors of RBF-NNs method. Finally, a simulation is taken to certify the effectiveness of proposed method and the main conclusions.

源语言英语
主期刊名2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
出版商Institute of Electrical and Electronics Engineers Inc.
493-498
页数6
ISBN(电子版)9781538620342
DOI
出版状态已出版 - 2 7月 2017
活动2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017 - Okinawa, 日本
期限: 14 7月 201718 7月 2017

出版系列

姓名2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
2017-July

会议

会议2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017
国家/地区日本
Okinawa
时期14/07/1718/07/17

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