A modified adaptive controller design for teleoperation systems

被引：13
|
作者：
Hosseini-Suny, K. [2 ]
Momeni, H. [2 ]
Janabi-Sharifi, F. [1 ]
机构：
[1] Ryerson Univ, Dept Mech & Ind Engn, Robot Mechatron & Mfg Automat Lab RMAL, Toronto, ON M5B 2K3, Canada
[2] Dept Elect Engn, Tehran, Iran
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2010年 / 58卷 / 05期
关键词：
Time delay; Model reference adaptive controller; Feedforward compensator; Command generator tracker; Passive system; Teleoperation system;
D O I：
10.1016/j.robot.2009.11.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new adaptive controller is proposed to ensure the stability and good performance of a teleoperation system while a wide range of time delays is considered. For this means, a feedforward compensator is designed to ensure system passivity and then a new model reference adaptive controller (MRAC) is developed to provide good performance. The developed system demonstrates good stability and force tracking capabilities. A command generator tracker (CGT) is designed for a sample teleoperation system and the results are compared with the proposed system. (C) 2009 Elsevier B.V. All rights reserved.
引用
收藏
页码：676 / 683
页数：8
相关论文
共 50 条
  • [1] A design of bilateral teleoperation systems using composite adaptive controller
    Kim, Byeong-Yeon
    Ahn, Hyo-Sung
    [J]. CONTROL ENGINEERING PRACTICE, 2013, 21 (12) : 1641 - 1652
  • [2] Robust adaptive inverse controller design for position tracking in teleoperation systems
    Sadeghi, M. Sha
    Momeni, H. R.
    Amirifar, R.
    Ganjefar, S.
    [J]. PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3, 2007, : 1257 - +
  • [3] ADAPTIVE CONTROLLER DESIGN OF PNEUMATIC TELEOPERATION SYSTEM
    Baayoun, Mohamad Anwar
    Daher, Naseem
    Liermann, Matthias
    [J]. PROCEEDINGS OF THE ASME/BATH SYMPOSIUM ON FLUID POWER AND MOTION CONTROL, 2015, 2016,
  • [4] Adaptive teleoperation systems design
    Hosseini-Sunny, K
    Momeni, H
    Janabi-Sharifi, F
    [J]. 2005 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), VOLS 1AND 2, 2005, : 334 - 339
  • [5] Adaptive sliding mode controller design for nonlinear teleoperation systems using singular perturbation method
    Soheil Ganjefar
    Mohammad Hadi Sarajchi
    M. T. Hamidi Beheshti
    [J]. Nonlinear Dynamics, 2015, 81 : 1435 - 1452
  • [6] An Adaptive Controller for Bilateral Teleoperation Systems with Uncertain Kinematics and Dynamics
    Javid, Afshin
    Nekoui, Mohammad Ali
    [J]. 2018 6TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2018), 2018, : 59 - 64
  • [7] Lambert W Function Controller Design for Teleoperation Systems
    Soheil Ganjefar
    Mohammad Hadi Sarajchi
    Seyed Mahmoud Hoseini
    Zhufeng Shao
    [J]. International Journal of Precision Engineering and Manufacturing, 2019, 20 : 101 - 110
  • [8] Adaptive sliding mode controller design for nonlinear teleoperation systems using singular perturbation method
    Ganjefar, Soheil
    Sarajchi, Mohammad Hadi
    Beheshti, M. T. Hamidi
    [J]. NONLINEAR DYNAMICS, 2015, 81 (03) : 1435 - 1452
  • [9] Adaptive controller of master-slave systems for transparent teleoperation
    Lee, HK
    Shin, MH
    Chung, MJ
    [J]. 8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97, 1997, : 1021 - 1026
  • [10] Lambert W Function Controller Design for Teleoperation Systems
    Ganjefar, Soheil
    Sarajchi, Mohammad Hadi
    Hoseini, Seyed Mahmoud
    Shao, Zhufeng
    [J]. INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2019, 20 (01) : 101 - 110
12345