Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
413484 | Robotics and Autonomous Systems | 2010 | 8 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
K. Hosseini-Suny, H. Momeni, F. Janabi-Sharifi,