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- W2393673008 abstract "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." @default.
- W2393673008 created "2016-06-24" @default.
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- W2393673008 date "2001-01-01" @default.
- W2393673008 modified "2023-09-23" @default.
- W2393673008 title "NEURAL NETWORK SMITH PREDICTIVE CONTROL FOR TELEROBOTS WITH TIME DELAY" @default.
- W2393673008 hasPublicationYear "2001" @default.
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