Title :
Adaptive position tracking control for Bilateral teleoperation with constant time delay
Author :
Hua, Changchun ; Yang, Yana ; Liu, Xiaoping P.
Author_Institution :
Inst. of Electr. Eng., Yanshan Univ., Qinhuangdao, China
Abstract :
This paper addresses the position tracking problem for the teleoperation systems. With the use of neural network approximating unknown nonlinear functions, a neural network based sliding mode adaptive controller is designed to realize the synchronization of the master site and the slave site. By choosing Lyapunov Krasovskii functions, we prove that the motion tracking error converges to zero asymptotically. Finally, the simulations are performed to show the effectiveness of the proposed method.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; convergence of numerical methods; delays; function approximation; neurocontrollers; nonlinear control systems; position control; synchronisation; telerobotics; variable structure systems; LyapunovKrasovskii functions; adaptive position tracking control; asymptotic convergence; bilateral teleoperation; constant time delay; master site; motion tracking error; neural network-based sliding mode adaptive controller design; slave site; synchronization; unknown nonlinear function approximation; Approximation methods; Artificial neural networks; Delay effects; Manipulators; Robot kinematics; Adaptive control; Neural network; Teleoperation system; Time delay;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6358262
