인공신경망을 이용한 지연시간이 일정치 않은 시스템의 제어

Neural network-based control for uneven delay-time systems

We propose a control law in discrete time domain of the bilateral feedback teleoperation system using neural network and the reference model type of adaptive control. Different from traditional teleoperation systems, the transmission time delay irregularly changes. The proposed control method controls master and slave systems through identification of master and slave models using neural networks.