@article{28a37f12649c43248ee550225d6e01f3,
title = "RBFNN-Based Adaptive Sliding Mode Control Design for Delayed Nonlinear Multilateral Telerobotic System with Cooperative Manipulation",
author = "Zheng Chen and Fanghao Huang and Wenjie Chen and Junhui Zhang and Weichao Sun and Jiawang Chen and Jason Gu and Shiqiang Zhu",
note = "Funding Information: This work was supported by the National Natural Science Foundation of China under Grant 61603332 and Grant 91748210, and in part by the Natural Science Foundation of Zhejiang Province, China under Grant LY19E050016. Funding Information: publication July 10, 2019; date of current version January 14, 2020. ITH the advancement of technologies in modern in-ofChinaunderGrant61603332and Grant91748210,andinpartby WThisworkwassupportedbytheNationalNaturalScienceFoundationdustry [1]–[6], the human-machine-interaction-based the Natural Science Foundation of Zhejiang Province, China under telerobotic system is developed and regarded as an effective Grant LY19E050016. Paper no. TII-19-2612. (Corresponding author: solution to execute the remote tasks in the unreachable and haz-Z.CheniswithOceanCollege,ZhejiangUniversity,Zhoushan316021,JiawangChen.) ardous environments, such as underwater sampling and space China, and also with the State Key Laboratory of Fluid Power and exploration [7]. Recently, with the increasing complexity and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China accuracy requirements of the tasks executed in the remote areas, F. Huangand J. Chen are with Ocean College, Zhejiang Univer-(e-mail:,zheng_chen@zju.edu.cn). the concept of multilateral telerobotic system is proposed, which sity, Zhoushan 316021, China (e-mail:, huangfanghao@zju.edu.cn; includes multiple manipulators in both the master and slave arwang@zju.edu.cn). sides, and can achieve the accurate operations with cooperative ChampaignInstitute(the ZJU-UIUCInstitute),ZhejiangUniversity,W.CheniswiththeZhejiangUniversity/UniversityofIllinoisatUrbana- manipulation [8], [9]. Haining 314400, China (e-mail:,wjchen@Berkeley.edu). There are several significant issues in the control design of J.ZhangiswiththeStateKeyLaboratoryofFluidPowerandMecha- multilateral telerobotic system with multiple master and slave benzjh@zju.edu.cn).tronicSystems,ZhejiangUniversity,Hangzhou310027,China(e-mail:, manipulators [10], which include the following. W. Sun is with the Research Institute of Intelligent Control and 1) Stability under time delays in the communication Systems,HarbinInstituteofTechnology,Harbin150001,China(e-mail:, channel. J.Guiswiththe DepartmentofElectricalandComputerEngineering,w.sun@hit.edu.cn). 2) Transparency with both position tracking and force Dalhousie University, Halifax, NS B3H 4R2, Canada, and also with feedback under external disturbance, nonlinearities, and Zhejiang Laboratory, Hangzhou 311100, China (e-mail:, jason.gu@ various uncertainties of master and slave dynamics. S.ZhuiswithOceanCollege,ZhejiangUniversity,Zhoushan316021,dal.ca). 3) Cooperative manipulation with the balance of force acting China, and also with Zhejiang Laboratory, Hangzhou 311100, China on the target object. (e-mail:,sqzhu@zju.edu.cn). The stability of telerobotic system is originating from onlineathttp://ieeexplore.ieee.org.Colorversionsofoneormoreofthefiguresinthispaperareavailable the time delays in the communication channel, which can Digital Object Identifier 10.1109/TII.2019.2927806 destabilize the system and have been studied for decades [11]. Publisher Copyright: {\textcopyright} 2005-2012 IEEE.",
year = "2020",
month = feb,
doi = "10.1109/TII.2019.2927806",
language = "English",
volume = "16",
pages = "1236--1247",
journal = "IEEE Transactions on Industrial Informatics",
issn = "1551-3203",
publisher = "IEEE Computer Society",
number = "2",
}