Adaptive neural network based prescribed performance control for teleoperation system under input saturation

Yang, Yanyan; Ge, Chao; Wang, Hong; Li, Xiaoyi; Chen, Hua

doi:10.1016/j.jfranklin.2015.01.032

Cited by 92 publications

(61 citation statements)

References 28 publications

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“…In this paper, we apply the PPC algorithm to restrict the tracking errors no larger than a preset value. The proposed TDPA in turn allows the PPC algorithm to be applied under time-varying delays, which also compensates for the drawback of [9] and [10]. In this way, the performance of the proposed system can be enlarged under sharply-varying delays while the stability is still guaranteed.…”

Section: Remarkmentioning

confidence: 99%

“…Moreover, PPC is applied to enhance the signal synchronization. Unlike the PPC method in [8]- [9] which can only guarantee the position synchronization under constant time delays, the PPC applied in the Fig.3 can simultaneously guarantee the synchronization of position, velocity and torque in the presence of time varying delays.…”

Section: Remarkmentioning

confidence: 99%

“…Kostarigka et al analyse the pre-set performance control problem for a flexible joint robot with unknown and possibly variable elasticity [7]. In the bilateral teleoperation research, Yang et al firstly apply the PPC to enhance the position synchronization performance [8]- [9] of the master and the slave robots. However, their approach primitively primarily has contains two major shortcomings.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Sun

Naghdy

2016

Nonlinear Dyn

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Abstract-A novel approach applying the extended Prescribed Performance Control (PPC) and the wave-based Time Domain Passivity Approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system's passivity is guaranteed in the presence of arbitrary time delays. The system's stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the master-slave system's passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

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Section: Remarkmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Sun

Naghdy

2016

Nonlinear Dyn

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“…43,49 To achieve the control objective, the tracking errors z i ðtÞ; i ¼ 1; 2; 3; 4; V should be confined in the prescribed bounds shown as follows ÀM i i ðtÞ < z i ðtÞ < i ðtÞ; if z i ð0Þ > 0 À i ðtÞ < z i ðtÞ < M i i ðtÞ; if z i ð0Þ < 0 (9) where 0 M i 1 and i ðtÞ > 0 named performance function is defined as…”

Section: Prescribed Performancementioning

confidence: 99%

“…43,49 To transform the constrained tracking error condition (9) into an equivalent unconstrained one, the following transformation is employed. We have The derivative of equation (11) is …”

Section: Prescribed Performancementioning

confidence: 99%

Tracking error constrained robust adaptive neural prescribed performance control for flexible hypersonic flight vehicle

Shi

et al. 2017

International Journal of Advanced Robotic Systems

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A robust adaptive neural control scheme based on a back-stepping technique is developed for the longitudinal dynamics of a flexible hypersonic flight vehicle, which is able to ensure the state tracking error being confined in the prescribed bounds, in spite of the existing model uncertainties and actuator constraints. Minimal learning parameter technique-based neural networks are used to estimate the model uncertainties; thus, the amount of online updated parameters is largely lessened, and the prior information of the aerodynamic parameters is dispensable. With the utilization of an assistant compensation system, the problem of actuator constraint is overcome. By combining the prescribed performance function and sliding mode differentiator into the neural back-stepping control design procedure, a composite state tracking error constrained adaptive neural control approach is presented, and a new type of adaptive law is constructed. As compared with other adaptive neural control designs for hypersonic flight vehicle, the proposed composite control scheme exhibits not only low-computation property but also strong robustness. Finally, two comparative simulations are performed to demonstrate the robustness of this neural prescribed performance controller.

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Finite‐time prescribed performance adaptive fuzzy fault‐tolerant control for nonstrict‐feedback nonlinear systems

Zhang

2019

Adaptive Control & Signal

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This paper focuses on a finite-time adaptive fuzzy control problem for nonstrict-feedback nonlinear systems with actuator faults and prescribed performance. Compared with existing results, the finite-time prescribed performance adaptive fuzzy output feedback control is under study for the first time.By designing performance function, the transient performance of the corresponding controlled variable is maintained in a prescribed area. Combining the finite-time stability criterion with backstepping technique, a feasible adaptive fault-tolerant control scheme is proposed to guarantee that the system output converges to a small neighborhood of the origin in finite time, and the closed-loop signals are bounded. Finally, simulation results are shown to illustrate the effectiveness of the presented control method.

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Adaptive neural network based prescribed performance control for teleoperation system under input saturation

Cited by 92 publications

References 28 publications

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Tracking error constrained robust adaptive neural prescribed performance control for flexible hypersonic flight vehicle

Finite‐time prescribed performance adaptive fuzzy fault‐tolerant control for nonstrict‐feedback nonlinear systems

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