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

Da Sun, Fazel Naghdy, Haiping Du
2017 IEEE Transactions on Cybernetics  
In this paper, a novel neural network-based fourchannel 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 neural network is used to estimate and eliminate the system's dynamic uncertainties. The system stability with linearity assumption on human and environment has been
more » ... nment 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.
doi:10.1109/tcyb.2016.2554630 pmid:30148710 fatcat:stufwztqojavnaeidfnv3zmyim