Time forward observer based adaptive controller for a teleoperation system

被引：0
|
作者：
Vu Trieu Minh
Fakhruldin Bin Mohd Hashim
机构：
[1] Universiti Teknologi PETRONAS (UTP),Department of Mechanical Engineering
来源：
International Journal of Control, Automation and Systems | 2011年 / 9卷
关键词：
Neural network; stability; time forwad observer; time variant delay; transparent performance;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents a design of a teleoperation system using time forward observer-based adaptive controller. The controller is robust to the time-variant delays and the environmental uncertainties while assuring the stability and the transparent performance. A novel theoretical framework and algorithms for this teleoperation system have been built up with neural network-based multiple model control and time forward state observer. Conditions for stability and transparency performance are also investigated.
引用
收藏
页码：470 / 477
页数：7
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