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Title
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Controller Design Based On Wavelet Neural Adaptive Proportional Plus Conventional Integral-Derivative For Bilateral Teleoperation Systems With Time-Varying Parameters
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Type
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JournalPaper
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Keywords
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Adaptive PID control bilateral teleoperation systems time-varying delay wavelet neural network
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Abstract
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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.
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Researchers
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Soheil Ganjefar (First Researcher), zhufeng shao (Fourth Researcher), (Third Researcher), (Second Researcher)
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