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Neural-Learning-Based Telerobot Control With Guaranteed Performance
Yang, Chenguang1; Wang, Xinyu2,3; Cheng, Long4; Ma, Hongbin2,3
AbstractIn this paper, a neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot. Guaranteed performance of the telerobot control system is achieved at both kinematic and dynamic levels. At kinematic level, automatic collision avoidance is achieved by the control design at the kinematic level exploiting the joint space redundancy, thus the human operator would be able to only concentrate on motion of robot's end-effector without concern on possible collision. A posture restoration scheme is also integrated based on a simulated parallel system to enable the manipulator restore back to the natural posture in the absence of obstacles. At dynamic level, adaptive control using radial basis function NNs is developed to compensate for the effect caused by the internal and external uncertainties, e.g., unknown payload. Both the steady state and the transient performance are guaranteed to satisfy a prescribed performance requirement. Comparative experiments have been performed to test the effectiveness and to demonstrate the guaranteed performance of the proposed methods.
KeywordCollision Avoidance Guaranteed Performance Neural Networks (Nns) Telerobot Control
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Funding OrganizationEngineering and Physical Sciences Research Council(EP/L026856/2 ; National Natural Science Foundation of China(61422310 ; Beijing Natural Science Foundation(4162066) ; EP/J004561/1) ; 61473038)
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000409311800016
Citation statistics
Cited Times:134[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorWang, Xinyu
Affiliation1.Swansea Univ, Zienkiewicz Ctr Computat Engn, Swansea SA1 8EN, W Glam, Wales
2.Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
3.Beijing Inst Technol, State Key Lab Intelligent Control & Decis Complex, Beijing 100081, Peoples R China
4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Yang, Chenguang,Wang, Xinyu,Cheng, Long,et al. Neural-Learning-Based Telerobot Control With Guaranteed Performance[J]. IEEE TRANSACTIONS ON CYBERNETICS,2017,47(10):3148-3159.
APA Yang, Chenguang,Wang, Xinyu,Cheng, Long,&Ma, Hongbin.(2017).Neural-Learning-Based Telerobot Control With Guaranteed Performance.IEEE TRANSACTIONS ON CYBERNETICS,47(10),3148-3159.
MLA Yang, Chenguang,et al."Neural-Learning-Based Telerobot Control With Guaranteed Performance".IEEE TRANSACTIONS ON CYBERNETICS 47.10(2017):3148-3159.
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