Advanced

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 (2019) In International Journal of Control
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:
author
organization
publishing date
type
Contribution to journal
publication status
epub
subject
keywords
Bilateral teleoperation, neural-network-based adaptive control, scheduling protocol, variable delays
in
International Journal of Control
publisher
Taylor & Francis
external identifiers
  • scopus:85070792293
ISSN
0020-7179
DOI
10.1080/00207179.2019.1652853
language
English
LU publication?
yes
id
edc36f58-23d1-4090-ba8f-9876d2af7a4f
date added to LUP
2019-09-09 11:00:23
date last changed
2019-09-26 04:41:50
@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},
  keyword      = {Bilateral teleoperation,neural-network-based adaptive control,scheduling protocol,variable delays},
  language     = {eng},
  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},
  year         = {2019},
}