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...

وصف كامل

محفوظ في:
التفاصيل البيبلوغرافية
المؤلفون الرئيسيون: Vu, Trieu Minh, Fakhruldin, Bin Mohd Hashim
التنسيق: مقال
منشور في: Hindawi 2010
الموضوعات:
الوصول للمادة أونلاين: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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الوصف
الملخص: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.