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Adaptive Neural Network Control in Bilateral Teleoperation Systems with Full-state Constraints
Shuo Yuan1,2; Xinbo Yu2; Yongliang Yang3; Carlos Silvestre3; Wei He1,2
2021-01-29
Conference Name2020 Chinese Automation Congress (CAC)
Source PublicationProceedings - 2020 Chinese Automation Congress, CAC 2020
Pages6794-6799
Conference Date6-8 Nov. 2020
Conference PlaceShanghai, China
Abstract

This paper aims at proposing an adaptive neural networks control architecture for constrained bilateral teleoperation systems with delay. To achieve full-state constrained conditions, a cot-type barrier Lyapunov functions (BLFs) is built to analyze the stability of systems. The radial basis function neural networks (RBFNNs) are applied to estimate uncertainties in dynamic parameters and improve robustness of systems. Under the proposed control strategy, the stability of systems is proved, and the tracking performance is guaranteed considering full-state constraints and uncertainties. The simulation verifies the effectiveness of designed control scheme.

KeywordBilateral Teleoperation Systems Neural Networks Full-state Constraints Barrier Lyapunov Function Uncertainties Time Delay
DOI10.1109/CAC51589.2020.9327023
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000678697006167
Scopus ID2-s2.0-85100943826
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorWei He
Affiliation1.School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China
2.Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, China
3.University of Macau,Department of Electrical and Computer Engineering,Faculty of Science and Technology,Macao
Recommended Citation
GB/T 7714
Shuo Yuan,Xinbo Yu,Yongliang Yang,et al. Adaptive Neural Network Control in Bilateral Teleoperation Systems with Full-state Constraints[C],2021:6794-6799.
APA Shuo Yuan,Xinbo Yu,Yongliang Yang,Carlos Silvestre,&Wei He.(2021).Adaptive Neural Network Control in Bilateral Teleoperation Systems with Full-state Constraints.Proceedings - 2020 Chinese Automation Congress, CAC 2020,6794-6799.
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