Adaptive Neural Synchronization Control for Bilateral Teleoperation Systems With Time Delay and Backlash-Like Hysteresis
针对存在时滞和类回滞滞后的双边遥操作系统，利用径向基神经网络逼近能力，设计了两种自适应神经控制方法，保证主从端位置和速度跟踪误差收敛到原点附近的小邻域。
This paper considers the master and slave synchronization control for bilateral teleoperation systems with time delay and backlash-like hysteresis. Based on radial basis functions neural networks' approximation capabilities, two improved adaptive neural control approaches are developed. By Lyapunov stability analysis, the position and velocity tracking errors are guaranteed to converge to a small neighborhood of the origin. The contributions of this paper can be summarized as follows: 1) by using the matrix norm established using the weight vector of neural networks as the estimated parameters, two novel control schemes are developed and 2) the hysteresis inverse is not required in the proposed controllers. The simulations are performed, and the results show the effectiveness of the proposed method.