期刊文献+

NEURAL NETWORK SMITH PREDICTIVE CONTROL FOR TELEROBOTS WITH TIME DELAY 被引量:3

遥操作机器人神经网络Smith预估控制(英文)
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摘要 A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy. 针对遥操作机器人通讯通道中存在的时延 ,提出了一种神经网络 Smith预估控制方法。控制系统适合于时延不变但未知的情况。控制系统包括主控制器和从系统两部分。从系统采用动态神经网络辨识机器人的动态模型 ,神经网络权重在线学习 ,用神经网络的输出对非线性系统进行局部非线性补偿 ,将非线性系统线性化。主系统针对线性化的从系统 ,采用 Smith预估控制解决时延问题并保证系统的性能品质。通过李雅普诺夫稳定理论保证了时延控制系统的稳定性。对两关节机器人的仿真结果说明了该方法的有效性。
出处 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2001年第1期35-40,共6页 南京航空航天大学学报(英文版)
基金 江苏省自然科学基金 (编号 :BK9912 0 )资助项目~~
关键词 TELEROBOT time delay s ystem neural networks Smith predictor 遥操作机器人 时滞系统 神经网络 Smith预估器
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参考文献1

  • 1J.-Q. Huang,F. L. Lewis,K. Liu. A Neural Net Predictive Control for Telerobots with Time Delay[J] 2000,Journal of Intelligent and Robotic Systems(1):1~25

同被引文献12

  • 1陈虹,史旺旺.基于因特网远程控制系统的改进广义预测控制方法[J].电机与控制学报,2005,9(6):566-569. 被引量:5
  • 2王世华,胥布工,刘云辉,周业明.预估控制下的实时网络遥操作移动机器人[J].机器人,2007,29(4):305-312. 被引量:8
  • 3任长清,王晓峰.基于TCP/IP网络的远程控制系统的研究[C]..中国电工技术学会第七届学术年会论文集.,2001..
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