Title :
Adaptive teleoperation systems design
Author :
Hosseini-Sunny, K. ; Momeni, H. ; Janabi-Sharifi, F.
Author_Institution :
Departmental of Electr. Eng., Tarbiat Modares Univ., Tehran
Abstract :
In this paper, an adaptive motion/force controller is developed for bilateral teleoperation systems. Design of an output feedback model reference adaptive controller (MRAC) at the remote site improves the position/velocity response with stability guarantee and a similar controller at the master site enhances the force tracking as the transmission time delay varies
Keywords :
adaptive control; control system synthesis; feedback; force control; motion control; position control; stability; telerobotics; velocity control; adaptive force controller; adaptive motion controller; adaptive teleoperation system design; bilateral teleoperation systems; force tracking; model reference adaptive controller; output feedback; Adaptive control; Adaptive systems; Control systems; Force control; Force feedback; Motion control; Output feedback; Programmable control; Stability; Velocity control;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507147
