Adaptive Teleoperation System with Neural Network-Based Multiple Model Control
This paper presents an adaptive teleoperation which is robust to time-delay and environmental uncertainties while assuring the transparent performance. A novel theoretical framework and algorithms for the teleoperation system have been built up with neural network-based multiple model control and ti...
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| Main Authors: | , |
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| Format: | Article |
| Published: |
Hindawi
2010
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| Subjects: | |
| Online Access: | http://eprints.utp.edu.my/2941/1/ISI.pdf http://www.hindawi.com/journals/mpe/2010/592054.abs.html http://eprints.utp.edu.my/2941/ |
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| Institution: | Universiti Teknologi Petronas |
| Summary: | This paper presents an adaptive teleoperation which is robust to time-delay and environmental uncertainties while assuring the transparent performance. A novel theoretical framework and algorithms for the teleoperation system have been built up with neural network-based multiple model control and time forward state observer. Conditions for stability and transparency performance are also identified. Simulations show that the system is stable and in good performance. |
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