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Teleoperation control based on combination of wave variable and neural networks
journal contribution
posted on 2023-06-09, 09:21 authored by Chenguang Yang, Xingjian Wang, Zhijun Li, Yanan LiYanan Li, Chun-Yi SuIn this paper, a novel control scheme is developed for a teleoperation system, combining the radial basis function (RBF) neural networks (NNs) and wave variable technique to simultaneously compensate for the effects caused by communication delays and dynamics uncertainties. The teleoperation system is set up with a TouchX joystick as the master device and a simulated Baxter robot arm as the slave robot. The haptic feedback is provided to the human operator to sense the interaction force between the slave robot and the environment when manipulating the stylus of the joystick. To utilize the workspace of the telerobot as much as possible, a matching process is carried out between the master and the slave based on their kinematics models. The closed loop inverse kinematics method and RBF NN approximation technique are seamlessly integrated in the control design. To overcome the potential instability problem in the presence of delayed communication channels, wave variables and their corrections are effectively embedded into the control system, and Lyapunov-based analysis is performed to theoretically establish the closed-loop stability. Comparative experiments have been conducted for a trajectory tracking task, under the different conditions of various communication delays. Experimental results show that in terms of tracking performance and force reflection, the proposed control approach shows superior performance over the conventional methods.
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on Systems, Man, and Cybernetics: SystemsISSN
2168-2216Publisher
IEEEExternal DOI
Issue
8Volume
47Page range
2125-2136Department affiliated with
- Engineering and Design Publications
Notes
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-14First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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