Time Forward Observer Based Adaptive Controller for a Teleoperation System
This paper presents a design of a teleoperation system using time forward observer-based adaptive controller. The controller is robust to the time-variant delays and the environmental uncertainties while assuring the stability and the transparent performance. A novel theoretical framework and algori...
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| Format: | Article |
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INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS, BUCHEON TECHNO PARK 401-1506, 193 YAKDAE-DONG WONMI-GU, BUCHEON, GYEONGGI-DO 420-734, SOUTH KOREA
2011
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| Online Access: | http://eprints.utp.edu.my/5814/1/ISI_IJCAS.pdf http://apps.isiknowledge.com/full_record.do?product=WOS&search_mode=GeneralSearch&qid=1&SID=T2AEM@BJIMODb4lC7CE&page=1&doc=1 http://eprints.utp.edu.my/5814/ |
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| Institution: | Universiti Teknologi Petronas |
| Summary: | This paper presents a design of a teleoperation system using time forward observer-based adaptive controller. The controller is robust to the time-variant delays and the environmental uncertainties while assuring the stability and the transparent performance. A novel theoretical framework and algorithms for this 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 investigated. |
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