Adaptive Neural Synchronization Control for Bilateral Teleoperation Systems With Time Delay and Backlash-Like Hysteresis

作者：Wang, Huanqing^*; Liu, Peter Xiaoping^*; Liu, Shichao

来源：IEEE Transactions on Cybernetics, 2017, 47(10): 3018-3026.

DOI：10.1109/TCYB.2016.2644656

• Adaptive control
• networked control system
• nonlinear control
• teleoperation
• time-delay

This paper considers the master and slave synchronization control for bilateral teleoperation systems with time delay and backlash-like hysteresis. Based on radial basis functions neural networks' approximation capabilities, two improved adaptive neural control approaches are developed. By Lyapunov stability analysis, the position and velocity tracking errors are guaranteed to converge to a small neighborhood of the origin. The contributions of this paper can be summarized as follows: 1) by using the matrix norm established using the weight vector of neural networks as the estimated parameters, two novel control schemes are developed and 2) the hysteresis inverse is not required in the proposed controllers. The simulations are performed, and the results show the effectiveness of the proposed method.

• 出版日期2017-10
• 单位北京交通大学