A modified adaptive controller design for teleoperation systems

Authors:
K. Hosseini-Suny;H. Momeni;F. Janabi-Sharifi
Affiliations:
Departmental of Electrical Engineering, Tarbiat Modares, Tehran, Iran;Departmental of Electrical Engineering, Tarbiat Modares, Tehran, Iran;Robotics, Mechatronics, and Manufacturing Automation Laboratory (RMAL), Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada, M5B 2K3
Venue:
Robotics and Autonomous Systems
Year:
2010

Citing 4
Cited 1

Adaptive Control

Adaptive Control
Direct Adaptive Control Algorithms: Theory and Applications

Direct Adaptive Control Algorithms: Theory and Applications
Design of robust feedforward compensators for direct model reference adaptive control algorithms

Design of robust feedforward compensators for direct model reference adaptive control algorithms
Force reflecting teleoperation with adaptive impedance control

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Bilateral control by state convergence based on transparency for systems with time delay

Robotics and Autonomous Systems

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Abstract

In this paper, a new adaptive controller is proposed to ensure the stability and good performance of a teleoperation system while a wide range of time delays is considered. For this means, a feedforward compensator is designed to ensure system passivity and then a new model reference adaptive controller (MRAC) is developed to provide good performance. The developed system demonstrates good stability and force tracking capabilities. A command generator tracker (CGT) is designed for a sample teleoperation system and the results are compared with the proposed system.