Neural-Network-Based Adaptive Control for Bilateral Teleoperation with Multiple Slaves under Round-Robin Scheduling Protocol
Li, Yuling LU ; Zhang, Kai ; Liu, Kun ; Johansson, Rolf LU
and Yin, Yixin
(2021)
In International Journal of Control
94(6).
p.1461-1474
- Abstract
A neural-network-based adaptive control scheme is developed for bilateral teleoperation systems with single-master-multiple-slaves in the presence of dynamic uncertainties and communication constraint. Discrete-time data transmitting communication network with bandwidth limitation and time-varying communication delays is considered and the Round-Robin scheduling protocol is used to orchestrate the data transmission from multiple slaves to the master. Stability criteria of the closed-loop system are established by constructing appropriate Lyapunov-Krasovskii functionals. Simulation studies are performed to illustrate the effectiveness of the proposed control algorithm.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/edc36f58-23d1-4090-ba8f-9876d2af7a4f
- author
- Li, Yuling
LU
; Zhang, Kai
; Liu, Kun
; Johansson, Rolf
LU
and Yin, Yixin
- organization
- publishing date
- 2021
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Bilateral teleoperation, neural-network-based adaptive control, scheduling protocol, variable delays
- in
- International Journal of Control
- volume
- 94
- issue
- 6
- pages
- 14 pages
- publisher
- Taylor & Francis
- external identifiers
-
- scopus:85070792293
- ISSN
- 0020-7179
- DOI
- 10.1080/00207179.2019.1652853
- project
- UAS@LU: Autonomous Flight
- RobotLab LTH
- The future of drones: technologies, applications, risks and ethics
- language
- English
- LU publication?
- yes
- id
- edc36f58-23d1-4090-ba8f-9876d2af7a4f
- date added to LUP
- 2019-09-09 11:00:23
- date last changed
- 2023-04-09 23:02:10
@article{edc36f58-23d1-4090-ba8f-9876d2af7a4f,
abstract = {{<p>A neural-network-based adaptive control scheme is developed for bilateral teleoperation systems with single-master-multiple-slaves in the presence of dynamic uncertainties and communication constraint. Discrete-time data transmitting communication network with bandwidth limitation and time-varying communication delays is considered and the Round-Robin scheduling protocol is used to orchestrate the data transmission from multiple slaves to the master. Stability criteria of the closed-loop system are established by constructing appropriate Lyapunov-Krasovskii functionals. Simulation studies are performed to illustrate the effectiveness of the proposed control algorithm.</p>}},
author = {{Li, Yuling and Zhang, Kai and Liu, Kun and Johansson, Rolf and Yin, Yixin}},
issn = {{0020-7179}},
keywords = {{Bilateral teleoperation; neural-network-based adaptive control; scheduling protocol; variable delays}},
language = {{eng}},
number = {{6}},
pages = {{1461--1474}},
publisher = {{Taylor & Francis}},
series = {{International Journal of Control}},
title = {{Neural-Network-Based Adaptive Control for Bilateral Teleoperation with Multiple Slaves under Round-Robin Scheduling Protocol}},
url = {{http://dx.doi.org/10.1080/00207179.2019.1652853}},
doi = {{10.1080/00207179.2019.1652853}},
volume = {{94}},
year = {{2021}},
}