International Journal of Control, Automation and Systems

, Volume 9, Issue 3, pp 470–477

Time forward observer based adaptive controller for a teleoperation system

Regular Papers Control Theory

DOI: 10.1007/s12555-011-0306-0

Cite this article as:
Minh, V.T. & Hashim, F.B.M. Int. J. Control Autom. Syst. (2011) 9: 470. doi:10.1007/s12555-011-0306-0

Abstract

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.

Keywords

Neural networkstabilitytime forwad observertime variant delaytransparent performance

Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringUniversiti Teknologi PETRONAS (UTP)Tronoh, PerakMalaysia