مشخصات پژوهش

عنوان	Controller Design Based On Wavelet Neural Adaptive Proportional Plus Conventional Integral-Derivative For Bilateral Teleoperation Systems With Time-Varying Parameters
نوع پژوهش	مقاله چاپ‌شده در مجلات علمی
کلیدواژه‌ها	Adaptive PID control bilateral teleoperation systems time-varying delay wavelet neural network
چکیده	In this study, a new controller method based on wavelet neural adaptive proportional plus conventional integral-derivative (WNAP+ID) controller through adaptive learning rates (ALRs) for the Internet-based bilateral teleoperation system is developed. The PID controller design suffers from dealing with a plant with an intricate dynamic model. To make an adaptive essence for PID controller, this study uses a trained offline self-recurrent wavelet neural network as a processing unit (SRWNN-PU) in parallel with conventional PID controller. The SRWNN-PU parameters are updated online using an SRWNN-identifier (SRWNNI) in order to reduce the controller error in realtime function.
پژوهشگران	سهیل گنجه فر (نفر اول)، محمد افشار (نفر دوم)، محمدهادی سراجچی (نفر سوم)، زئوفنگ شائو (نفر چهارم)