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Neural Network-Based Passivity Control of Teleoperation System under Time-Varying Delays

Journal Article


Abstract


  • In this paper, a novel neural network (NN)-based four-channel wave-based time domain passivity approach (TDPA) is proposed for a teleoperation system with time-varying delays. The designed wave-based TDPA aims to robustly guarantee the channels passivity and provide higher transparency than the previous power-based TDPA. The applied NN is used to estimate and eliminate the system's dynamic uncertainties. The system stability with linearity assumption on human and environment has been analyzed using Lyapunov method. The proposed algorithm is validated through experimental work based on a 3-DOF bilateral teleoperation platform in the presence of different time delays.

Publication Date


  • 2017

Citation


  • D. Sun, F. Naghdy & H. Du, "Neural Network-Based Passivity Control of Teleoperation System under Time-Varying Delays," IEEE Transactions on Cybernetics, vol. 47, (7) pp. 1666-1680, 2017.

Scopus Eid


  • 2-s2.0-85028339344

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers1/597

Has Global Citation Frequency


Number Of Pages


  • 14

Start Page


  • 1666

End Page


  • 1680

Volume


  • 47

Issue


  • 7

Place Of Publication


  • United States

Abstract


  • In this paper, a novel neural network (NN)-based four-channel wave-based time domain passivity approach (TDPA) is proposed for a teleoperation system with time-varying delays. The designed wave-based TDPA aims to robustly guarantee the channels passivity and provide higher transparency than the previous power-based TDPA. The applied NN is used to estimate and eliminate the system's dynamic uncertainties. The system stability with linearity assumption on human and environment has been analyzed using Lyapunov method. The proposed algorithm is validated through experimental work based on a 3-DOF bilateral teleoperation platform in the presence of different time delays.

Publication Date


  • 2017

Citation


  • D. Sun, F. Naghdy & H. Du, "Neural Network-Based Passivity Control of Teleoperation System under Time-Varying Delays," IEEE Transactions on Cybernetics, vol. 47, (7) pp. 1666-1680, 2017.

Scopus Eid


  • 2-s2.0-85028339344

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers1/597

Has Global Citation Frequency


Number Of Pages


  • 14

Start Page


  • 1666

End Page


  • 1680

Volume


  • 47

Issue


  • 7

Place Of Publication


  • United States