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

Sun, Da; Naghdy, Fazel; Du, Haiping

doi:10.1109/tcyb.2016.2554630

Cited by 83 publications

(44 citation statements)

References 36 publications

(55 reference statements)

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“…To secure the stability, the Lyapunov-Krasovskii functional method is applied for the filtering of the error (e.g., Zhai et al, 2017;Hua et al, 2017). And recently, thanks to the advancement of computing power, there are many works to interpolating the control input and trajectory by using neural networks (e.g., Li et al, 2016;Wang et al, 2017;Sun et al, 2017). In spite of the efforts stated above, in systems where the distance is very far or it is hard to ensure a stable network condition (e.g., where missing data can occur frequently), we need to figure out and apply a method to reduce the amount of data for the stable and sufficient network traffic condition.…”

Section: Virtual Collaboration For Communication Time Delaymentioning

confidence: 99%

Robotic remote control based on human motion via virtual collaboration system: A survey

Jung

Song

2018

JAMDSM

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This paper offers a review of the latest robotic remote control schemes that are based on human motion through the virtual collaboration system. The robotic remote control schemes have been studied and developed to combine the intelligence of humans with the precision and mechanical strength of robots. They have performed an important role in some dangerous environments by replacing humans in many difficult jobs, but the lack of intuitive control interfaces causes decreased efficiency. To address this problem, various approaches have been recently investigated, including human motion-based control, visual feedback systems, tactile or force feedback, and other various haptic systems. This paper describes the tendencies of these efforts and discusses possibilities and limitations in three parts: remote control based on human motion, multimodal feedback schemes for realistic interaction, and virtual collaboration systems.

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Section: Virtual Collaboration For Communication Time Delaymentioning

confidence: 99%

Robotic remote control based on human motion via virtual collaboration system: A survey

Jung

Song

2018

JAMDSM

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“…Over the past decades, many researchers have paid attention to the study of time‐varying delay systems because time delay is often encountered in many practical systems such as network systems, Takagi‐Sugeno fuzzy systems, and nonlinear systems (see other works). Thus far, many results on time‐varying delay systems have been reported in terms of a variety of methods .…”

Section: Introductionmentioning

confidence: 99%

“…−0.01078 0.13813 0.01532 0.00292 −0.01254 0.02007 0.00495 0.00086 0.00068 0.14655 0.00556 0.17033 −0.01410 −0.00319 0.01437 0.00271 −0.01407 0.04555 −0.00470 0.00311 0.00082 −0.00309 −0.00477 0.02016 plots the output response of system(1).…”

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confidence: 99%

Output feedback preview control for polytopic uncertain discrete‐time systems with time‐varying delay

Yuan

2019

Intl J Robust & Nonlinear

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Summary This paper considers the preview tracking control problem of polytopic uncertain discrete‐time systems with a time‐varying delay subject to a previewable reference signal. First, a model transformation is employed and a discrete‐time system with a time‐invariant delay and an external disturbance is obtained. The difference operator method can be extended to derive an augmented error system that includes future information on the reference signal. Then, a previewable reference signal is fully utilized through reformulation of the output equation while considering the output feedback. Based on the small gain theorem, a static output feedback controller with preview actions is designed such that the output can asymptotically track the reference signal. Finally, numerical simulation examples also illustrate the superiority of the desired preview controller for the uncertain system in the paper.

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“…Teleoperation control for a robot manipulator using wave variables and a neural network has been presented in . Two Phantoms were used for teleoperation control by the passivity‐based neural network control in . The delayed teleoperation of a mobile manipulator system is evaluated through simulations of human‐in‐the loop internet teleoperation in .…”

Section: Introductionmentioning

confidence: 99%

Teleoperation Control of a Position‐Based Impedance Force Controlled Mobile Robot by Neural Network Learning: Experimental Studies

Choi

Jung

2018

Asian Journal of Control

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Effective haptic performance in teleoperation control systems can be achieved by solving two major problems: the timedelay in communication channels and the transparency of force control. The time-delay in communication channels causes poor performance and even instability in a system. The transparency of force feedback is important for an operator to improve the performance of a given task. This article suggests a possible solution for these two problems through the implementation of a teleoperation control system between the master haptic device and the slave mobile robot. Regulation of the contact force in the slave mobile robot is achieved by introducing a position-based impedance force control scheme in the slave robot. The time-delay problem is addressed by forming a Smith predictor configuration in the teleoperation control environment. The configuration of the Smith predictor structure takes the time-delay term out of the characteristic equation in order to make the system stable when the system model is given a priori. Since the Smith predictor is formulated from exact linear modeling, a neural network is employed to identify and model the slave robot system as a nonlinear model estimator. Simulation studies of several control schemes are performed. Experimental studies are conducted to verify the performance of the proposed control scheme by regulating the contact force of a mobile robot through the master haptic device.

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

Cited by 83 publications

References 36 publications

Robotic remote control based on human motion via virtual collaboration system: A survey

Robotic remote control based on human motion via virtual collaboration system: A survey

Output feedback preview control for polytopic uncertain discrete‐time systems with time‐varying delay

Teleoperation Control of a Position‐Based Impedance Force Controlled Mobile Robot by Neural Network Learning: Experimental Studies

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