Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under Round-Robin scheduling protocol
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.
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Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under Round-Robin scheduling protocol
Semantic Scholar · Engineering · 2019
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.