Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Neural Network-Based Passivity Control of Teleoperation System Under Time-Varying Delays
Faculty of Engineering and Information Sciences, University of Wollongong, Wollongong, Australia. (Center of Apllied Autonomous Sensor System)ORCID iD: 0000-0002-0334-2554
Faculty of Engineering and Information Sciences, University of Wollongong, Wollongong, Australia.
Faculty of Engineering and Information Sciences, University of Wollongong, Wollongong, Australia.
2017 (English)In: IEEE Transactions on Cybernetics, ISSN 2168-2267, E-ISSN 2168-2275, Vol. 47, no 7, p. 1666-1680Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Piscataway, NJ, United States: IEEE, 2017. Vol. 47, no 7, p. 1666-1680
Keyword [en]
Bilateral teleoperation, neural network (NN), passivity, time domain passivity approach (TDPA), time-varying delays, wave variable
National Category
Robotics
Identifiers
URN: urn:nbn:se:oru:diva-64476DOI: 10.1109/TCYB.2016.2554630ISI: 000403814300007Scopus ID: 2-s2.0-85028339344OAI: oai:DiVA.org:oru-64476DiVA: diva2:1177017
Available from: 2018-01-24 Created: 2018-01-24 Last updated: 2018-01-31Bibliographically approved

Open Access in DiVA

Neural Network based Passivity Control of Teleoperation System Under Time-Varying Delays(1124 kB)3 downloads
File information
File name FULLTEXT02.pdfFile size 1124 kBChecksum SHA-512
25651ab9a7bfeb093ac39815a510f4a1b9c048cf20caddaaa7475a6f8a444b9f499ba91bef1ab7444df0bc5c715a27a1996514c53da3ec82aeb980d14aee586b
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Sun, Da
In the same journal
IEEE Transactions on Cybernetics
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 3 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 9 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf