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

作者：Yang, Yana; Ge, Chao^*; Wang, Hong; Li, Xiaoyi; Hua, Changchun

来源：Journal of the Franklin Institute, 2015, 352(5): 1850-1866.

DOI：10.1016/j.jfranklin.2015.01.032

• BILATERAL TELEOPERATION
• TRACKING CONTROL
• NONLINEAR-SYSTEMS
• ROBOT MANIPULATORS
• FEEDBACK
• SYNCHRONIZATION
• DELAYS

This paper addresses the stability and position synchronization problems for bilateral nonlinear teleoperation system with asymmetric constant time delays under input saturation. Compared with previous work, not only the steady-state performance but also the transient-state performance is considered. In the presence of system uncertainties and external disturbances, the corresponding adaptive neural network (ANN) based prescribed performance control (PPC) scheme is designed. Moreover, the time-dependent stability conditions are derived by applying the linear matrix inequality (LMI). Finally, in simulation comparisons with P+d (proportion plus differential) controller are conducted, simulation results are presented to demonstrate the effectiveness of the proposed PPC approach.

• 出版日期2015-5
• 单位燕山大学; 中国科学院电工研究所; 中国人民解放军信息工程大学; 华北理工大学