Abstract
Environment model and communication time delays of a teleoperation system are variant usually, which will induce bad performance, even instability of the system. In this paper, neural network based multiple model adaptive predictive control method is proposed to solve this problem. The whole control system is composed of predictive controller and decision controller. First of all, neural network model set of any possible environment is built up, and time forward state observer based predictive controllers are designed for all models. In succession, decision controller is designed to adaptive switch among all predictive controllers according to performance target. This method can ensure stability and performance of the system. Finally, simulation results show effectiveness of the proposed method.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Anderson, R.J., Spong, M.W.: Bilateral Control of Teleoperators with Time Delay. IEEE Transactions on Automation Control 34(4), 494–501 (1989)
Casavola, A., Mosca, E., Papini, M.: Predictive Teleoperation of Constrained Dynamic Systems via Internet-like Channels. IEEE Transactions On Control Systems Technology 14(4), 681–694 (2006)
Guan, Z.H., Zhang, H., Yang, S.H.: Robust Passive Control for Internet-based Switching Systems with Time-delay. Chaos & Solitons and Fractals (in press)
Shahdi, S.A., Sirouspou, S.: Multiple Model Control for Teleoperation in Unknown Environments. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 703–708 (2005)
Smith, A.C., Hashtrudi-Zaad, K.: Adaptive Teleoperation Using Neural Network-based Predictive Control. In: Proceedings of the 2005 IEEE Conference on Control Applications Toronto, Canada, pp. 1269–1274 (2005)
Brady, K., Tarn, T.J.: Internet-based Remote Teleoperation. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 65–70 (1998)
Narendra, K.S., Balakrishnan, J.: Adaptive Control Using Multiple Models. IEEE Trans. Automat. Contr. 42(2), 171–187 (1997)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Chen, Q., Quan, J., Xia, J. (2007). Neural Network Based Multiple Model Adaptive Predictive Control for Teleoperation System. In: Liu, D., Fei, S., Hou, ZG., Zhang, H., Sun, C. (eds) Advances in Neural Networks – ISNN 2007. ISNN 2007. Lecture Notes in Computer Science, vol 4491. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72383-7_9
Download citation
DOI: https://doi.org/10.1007/978-3-540-72383-7_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-72382-0
Online ISBN: 978-3-540-72383-7
eBook Packages: Computer ScienceComputer Science (R0)