Title : ( Model Reference Adaptive Control Design for a Teleoperation System with Output Prediction )
Authors: Seyed Kamal Hosseini Sani , Hamid Momeni , Farrokh Janabi-Sharifi ,
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Abstract
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.
Keywords
, Teleoperation, time-delay, MRAC, master robot, slave robot, delay estimation, output prediction
@article{paperid:1026933,
author = {Hosseini Sani, Seyed Kamal and Hamid Momeni and Farrokh Janabi-Sharifi},
title = {Model Reference Adaptive Control Design for a Teleoperation System with Output Prediction},
journal = {Journal of Intelligent and Robotic Systems},
year = {2010},
volume = {59},
number = {3},
month = {September},
issn = {0921-0296},
pages = {319--339},
numpages = {20},
keywords = {Teleoperation; time-delay; MRAC; master robot; slave robot; delay estimation; output prediction},
}
%0 Journal Article
%T Model Reference Adaptive Control Design for a Teleoperation System with Output Prediction
%A Hosseini Sani, Seyed Kamal
%A Hamid Momeni
%A Farrokh Janabi-Sharifi
%J Journal of Intelligent and Robotic Systems
%@ 0921-0296
%D 2010
