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 network stability time forwad observer time variant delay transparent 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

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