Adaptive Sliding Mode Control for Random Teleoperation System with Time-Varying Delay

被引：0
|
作者：
Jian, Haitao [1 ,2 ,3 ]
Zheng, Shiqi [1 ,2 ,3 ]
Zhao, Chenghao [1 ,2 ,3 ]
Li, Haiming [1 ,2 ,3 ]
Wang, Shihao [1 ,2 ,3 ]
机构：
[1] China Univ Geosci, Sch Automat, Wuhan 430074, Peoples R China
[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China
[3] Minist Educ, Engn Res Ctr Intelligent Technol Geoexplorat, Wuhan 430074, Peoples R China
来源：
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Adaptive control; Sliding mode; Teleoperation; Random Lagrangian system; Time-varying delay; BILATERAL TELEOPERATION; TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on the control problem of a class of random teleoperation systems. To overcome the difficulties caused by the random environment, a new adaptive sliding mode control method for random teleoperation system is proposed. Compared with the previous work, the model in this paper is built by random differential equations. In addition, different time-varying delays are introduced between the two communication channels. Furthermore, a new design scheme for random teleoperation system with varying-time delay is proposed. Radial Basis Function neural network (RBFNN) is introduced to deal with the unknown nonlinearities of the system. Using this method, good position tracking performance and stability can be obtained.
引用
收藏
页码：2280 / 2285
页数：6
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