Time Delay Prediction Method Based on EMD and Elman Neural Network

The time-delay in the teleoperation system is an important parameter affecting the stability and performance. A time delay prediction method based on EMD(Empirical Mode Decomposition) and Elman neural network is proposed in this paper. Firstly, time delay sequence is separated into IMFs by EMD, then the first several IMFs are subtracted from time delay signals as noise. The sum of rest IMFs are taken as the input of Elman neural network to predict. Finally, computer simulation of teleoperation is built. The results of experiments indicate that the proposed method based on EMD and Elman neural network is more accurate and has better prediction ability than which is predicted by Elman neural network directly.