Time forward observer based adaptive controller for a teleoperation system

Regular Papers Control Theory

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 

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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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