한국지능시스템학회논문지 (Journal of the Korean Institute of Intelligent Systems)

  • 제21권4호
  • /
  • Pages.449-455
  • /
  • 2011
  • /
  • 1976-9172(pISSN)
  • /
  • 2288-2324(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
권호 표지
DOI QR코드

DOI QR Code

원격 제어 시스템에서의 신경망을 이용한 시간 지연 보상 제어기 설계

Design of a Time-delay Compensator Using Neural Network In a Tele-operation System

  • 최호진 (LIG 넥스원 연구원) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • 투고 : 2011.07.14
  • 심사 : 2011.08.10
  • 발행 : 2011.08.25
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 논문에서는 원격제어 시스템의 시간지연 문제를 분석하고 그 문제를 신경망으로 보상한다. 스미스 예측기는 시간지연 시스템에서 정확한 모델을 필요로 한다. 스미스 예측기의 모델링 오차를 보상하기 위해 신경회로망을 사용한다. 스미스 예측기를 구성하기 위해 Radial Basis Function(RBF) 신경회로망이 사용된다. 시뮬레이션과 실험을 통해 제안하는 방법의 동작을 검증한다.

In this paper, a time-delay problem of a tele-operated control system is investigated and compensated by neural network. The smith predictor requires an exact system model to deal with a time-delay in the system. To compensate for modeling errors in the configuration of the Smith predictor, a neural network approach is presented. Based on forming the Smith predictor structure, the radial basis function(RBF) neural network estimator is used. Simulation and experimental studies are conducted to show the functionality of the proposed method.

키워드

참고문헌

  1. Y. Yokokohji, T. Imaida, and T. Yoshikawa, "Bilateral control with energy balance monitoring under time-varying communication delay", IEEE Conf. on Robotics and Automations, pp. 2684-2689, 2000. https://doi.org/10.1109/ROBOT.2000.846433
  2. W. H. Zhu and S. E. Sacudean, "Stability guaranteed teleoperation: an adaptive motion/force control approach", IEEE Trans. on Automatic Control, vol. 45, no.11, pp. 1951-1969, 2000 https://doi.org/10.1109/9.887620
  3. H. Arioui, M. Mana, A. Kheddar, and S. Mammar, "Master-model based time-delayed force feedback interaction experimental results", IEEE Symposium on Intelligent Control, pp. 896-901, 2002. https://doi.org/10.1109/ISIC.2002.1157881
  4. O. M. Palafox, D.J.Lee and M.W.Spong, I. Lopez,and C. T. Abdallah, "Bilateral teleoperation of mobile robot over delayed communication network: implementation", IEEE IROS, pp.4193-4198, 2006 https://doi.org/10.1109/IROS.2006.281912
  5. R. C. Miall, D. J. Weir, D. M. Wolpert, and J. F. Stein, "Is the cerebellum a Smith predictor?", Journal of Motor Behaviour, vol. 25, no.3, pp. 203-216, 1993. https://doi.org/10.1080/00222895.1993.9942050
  6. A. A. Rahman, K. Natori, and K. Ohnishi, "Disturbance decomposition of time delay system by shadow robot based on network disturbance concept", IEEE International Conference on Industrial Technology, pp. 1120-1125, 2009.
  7. A. C. Smith and K. Hashtrudi-Zaad, "Smith predictor type control architectures for time delayed teleoperation", The International Journal of Robotics Research, vol. 25, no.8, pp. 797-818, 2006. https://doi.org/10.1177/0278364906068393
  8. H. J. Choi and S. Jung, "Neural network-based Smith predictor design for the time-delay in a tele-operated control system ", AROB, vol.14, no.14, pp. 578-583 2009.

피인용 문헌

  1. Robust teleoperation in a non-visible environment with a new prediction scheme vol.32, pp.2, 2018, https://doi.org/10.1007/s12206-018-0134-0