{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T00:10:40Z","timestamp":1773274240068,"version":"3.50.1"},"reference-count":24,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2021,11,9]],"date-time":"2021-11-09T00:00:00Z","timestamp":1636416000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"The Sichuan Science and Technology Program","award":["2021YFQ0003"],"award-info":[{"award-number":["2021YFQ0003"]}]}],"content-domain":{"domain":["www.mdpi.com"],"crossmark-restriction":true},"short-container-title":["Sensors"],"abstract":"<jats:p>A bilateral neural network adaptive controller is designed for a class of teleoperation systems with constant time delay, external disturbance and internal friction. The stability of the teleoperation force feedback system with constant communication channel delay and nonlinear, complex, and uncertain constant time delay is guaranteed, and its tracking performance is improved. In the controller design process, the neural network method is used to approximate the system model, and the unknown internal friction and external disturbance of the system are estimated by the adaptive method, so as to avoid the influence of nonlinear uncertainties on the system.<\/jats:p>","DOI":"10.3390\/s21227443","type":"journal-article","created":{"date-parts":[[2021,11,9]],"date-time":"2021-11-09T21:39:07Z","timestamp":1636493947000},"page":"7443","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Adaptive Neural Network Control of Time Delay Teleoperation System Based on Model Approximation"],"prefix":"10.3390","volume":"21","author":[{"given":"Yaxiang","family":"Wang","sequence":"first","affiliation":[{"name":"School of Innovation and Entrepreneurship, Xi\u2019an Fanyi University, Xi\u2019an 710105, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6398-7461","authenticated-orcid":false,"given":"Jiawei","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Automation, University of Electronic Science and Technology of China, Chengdu 610054, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1407-0283","authenticated-orcid":false,"given":"Yan","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Automation, University of Electronic Science and Technology of China, Chengdu 610054, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bo","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Automation, University of Electronic Science and Technology of China, Chengdu 610054, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8040-0367","authenticated-orcid":false,"given":"Shan","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Automation, University of Electronic Science and Technology of China, Chengdu 610054, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5022-610X","authenticated-orcid":false,"given":"Lirong","family":"Yin","sequence":"additional","affiliation":[{"name":"Department of Geography and Anthropology, Louisiana State University, Baton Rouge, LA 70803, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8486-1654","authenticated-orcid":false,"given":"Wenfeng","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Automation, University of Electronic Science and Technology of China, Chengdu 610054, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,9]]},"reference":[{"key":"ref_1","first-page":"107","article-title":"Toward advanced teleoperation in space","volume":"161","author":"Bejczy","year":"1994","journal-title":"Prog. 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