Neural Network-Based Passivity Control of Teleoperation System Under Time-Varying Delays
提出一种基于神经网络的四通道波域时域无源方法，用于时变时延下的遥操作系统，保证通道无源性并提高透明度，通过三自由度双边遥操作平台实验验证。
In this paper, a novel neural network (NN)-based four-channel 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 NN is used to estimate and eliminate the system's dynamic uncertainties. The system stability with linearity assumption on human and environment 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.