Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints
- 4 May 2015
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Cybernetics
- Vol. 46 (5), 1051-1064
- https://doi.org/10.1109/tcyb.2015.2422785
Abstract
Most studies on bilateral teleoperation assume known system kinematics and only consider dynamical uncertainties. However, many practical applications involve tasks with both kinematics and dynamics uncertainties. In this paper, trilateral teleoperation systems with dual-master-single-slave framework are investigated, where a single robotic manipulator constrained by an unknown geometrical environment is controlled by dual masters. The network delay in the teleoperation system is modeled as Markov chain-based stochastic delay, then asymmetric stochastic time-varying delays, kinematics and dynamics uncertainties are all considered in the force-motion control design. First, a unified dynamical model is introduced by incorporating unknown environmental constraints. Then, by exact identification of constraint Jacobian matrix, adaptive neural network approximation method is employed, and the motion/force synchronization with time delays are achieved without persistency of excitation condition. The neural networks and parameter adaptive mechanism are combined to deal with the system uncertainties and unknown kinematics. It is shown that the system is stable with the strict linear matrix inequality-based controllers. Finally, the extensive simulation experiment studies are provided to demonstrate the performance of the proposed approach.Keywords
Funding Information
- National Natural Science Foundation of China (61174045, 61225015)
- Program for New Century Excellent Talents in University (NCET-12-0195)
- Ph.D. Programs Foundation of Ministry of Education of China (20130172110026)
- Foundation of State Key Laboratory of Robotics (2014-o07)
- Guangzhou Research Collaborative Innovation Projects (2014Y2-00507)
- National High-Tech Research and Development Program of China (863 Program) (2015AA042303)
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