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

页码：676 / 683

页数：8

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