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Model Reference Adaptive Control Design for a Teleoperation System with Output Prediction

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Abstract

In this paper, a new control scheme is proposed to ensure stability and good performance of the teleoperation systems while a wide range of time delays in transmission line is allowed. For this purpose, a new algorithm is recommended for time delay estimation and plant output prediction in the presence of white and color noise. A model reference adaptive controller (MRAC) is designed for the master site using the predicted output of the plant. An independent MRAC is also designed and integrated for the slave site. The proposed control system indicates good stability and tracking performance.

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Authors and Affiliations

  1. Departmental of Electrical Engineering, Tarbiat Modarres University, Tehran, Iran

    Kamal Hosseini-Suny & Hamid Momeni

  2. Robotics, Mechatronics, and Manufacturing Automation Laboratory (RMAL), Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, ON, Canada, M5B 2K3

    Farrokh Janabi-Sharifi

Authors
  1. Kamal Hosseini-Suny
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  2. Hamid Momeni
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  3. Farrokh Janabi-Sharifi
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Correspondence to Kamal Hosseini-Suny.

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Hosseini-Suny, K., Momeni, H. & Janabi-Sharifi, F. Model Reference Adaptive Control Design for a Teleoperation System with Output Prediction. J Intell Robot Syst 59, 319–339 (2010). https://doi.org/10.1007/s10846-010-9400-4

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  • DOI: https://doi.org/10.1007/s10846-010-9400-4

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