Title :
Adaptive control of teleoperation systems
Author :
Shi, Minyan ; Tao, Gang ; Liu, Hong ; Downs, J. Hunter
Author_Institution :
Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA
Abstract :
We develop suitable adaptive control schemes for control of a teleoperation system with unknown parameters of different types: those with constant values, those with jumping values, and those with smooth but large time-varying values. Associated with different situations of adaptive control systems, different new transparency concepts are introduced and verified by analysis and simulation results
Keywords :
adaptive control; control system synthesis; stability; telerobotics; time-varying systems; adaptive control schemes; constant values; jumping values; teleoperation systems; time-varying values; transparency concepts; Adaptive control; Communication system control; Control systems; Humans; Impedance; Master-slave; Robots; Stability; Teleoperators; Time varying systems;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.832886
