Chapter Three: Uncertainties compensation-based teleoperation control
Abstract
In this chapter, we propose several methods based on wave variables and RBFNN to deal with the uncertainty problems in teleoperation systems, which are mainly caused by the time delays in the communication channel and the dynamics in the actual environment. For the nonlinearity of the dynamic model and the imprecision of the dynamic parameters, the RBFNN-based controller is proposed for compensation. With the advantages of nonlinear function approaching and fast training, RBFNN could be competent for approaching the nonlinear item in the dynamic model and finally realize precise tracking. Experiments to determine the tracking performance were carried out to analyze the ...
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