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

被引：38

作者：

Hosseini-Suny, Kamal ^{[1
]}

Momeni, Hamid ^{[1
]}

Janabi-Sharifi, Farrokh ^{[2
]}

机构：

[1] Tarbiat Modares Univ, Dept Elect Engn, Tehran, Iran

[2] Ryerson Univ, Robot Mechatron & Mfg Automat Lab, Dept Mech & Ind Engn, Toronto, ON M5B 2K3, Canada

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2010年 / 59卷 / 3-4期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Teleoperation; Time-delay; MRAC; Master robot; Slave robot; Delay estimation; Output prediction; TIME-DELAY;

D O I：

10.1007/s10846-010-9400-4

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：319 / 339

页数：21

共 50 条

[41] A model reference adaptive iterative learning control system
Madady, Ali
IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11, 2006, : 426 - 431
[42] Implementation of Model Reference Adaptive Control in a Dehydration System
Sánchez–Sánchez P.
Cebada–Reyes J.G.
Montiel–Martínez A.
Reyes–Cortés J.F.
RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 2024, 21 (01): : 39 - 51
[43] Model Reference Adaptive Control for A Precision Positioning System
Chang, Kuo-Ming
2009 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-3, 2009, : 1086 - 1091
[44] Model reference adaptive control of a nonsmooth dynamical system
Yang, L.
Neild, S. A.
Wagg, D. J.
Virden, D. W.
NONLINEAR DYNAMICS, 2006, 46 (03) : 323 - 335
[45] Almost output regulation model reference adaptive control for switched systems: combined adaptive strategy
Xie, Jing
Yan, Hua
Li, Shujiang
Yang, Dong
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2020, 51 (03) : 556 - 569
[46] Design of an Adaptive Output Recurrent Cerebellar Model Articulation Controller for Direct Torque Control System
Lin, Wen-Bin
Wang, Shun-Yuan
Tseng, Chwan-Lu
Liu, Foun-Yuan
Chou, Jen-Hsiang
Lee, Ching-Yin
2017 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2017, : 2968 - 2973
[47] Adaptive Output Feedback Control System Design with Adaptive PFC for Combustion Control of Diesel Engine
Fujii, Seiya
Uchida, Satoshi
Mizumoto, Ikuro
IFAC PAPERSONLINE, 2018, 51 (31): : 510 - 515
[48] DIRECT MODEL REFERENCE ADAPTIVE CONTROL OF LINEAR SYSTEMS WITH INPUT/OUTPUT DELAYS
Nelson, James P.
Balas, Mark J.
NUMERICAL ALGEBRA CONTROL AND OPTIMIZATION, 2013, 3 (03): : 445 - 462
[49] AN OUTPUT ERROR IDENTIFICATION INTERPRETATION OF MODEL-REFERENCE ADAPTIVE-CONTROL
JOHNSON, CR
AUTOMATICA, 1980, 16 (04) : 419 - 421
[50] L1 Adaptive Output Feedback Augmentation of Model Reference Control
Lee, Hanmin
Cichella, Venanzio
Hovakimyan, Naira
2014 AMERICAN CONTROL CONFERENCE (ACC), 2014, : 697 - 702

← 1 2 3 4 5 →