Title : ( A modified adaptive controller design for teleoperation systems )
Authors: Seyed Kamal Hosseini Sani , H. Momeni , F. Janabi-Sharifi ,
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Abstract
In this paper, a new adaptive controller is proposed to ensure 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.
Keywords
, Time Delay, Model Reference Adaptive Controller, Feedforward Compensator, Command Generator Tracker, Passive System, Teleoperation System.
@article{paperid:1027102,
author = {Hosseini Sani, Seyed Kamal and H. Momeni and F. Janabi-Sharifi},
title = {A modified adaptive controller design for teleoperation systems},
journal = {Robotics and Autonomous Systems},
year = {2010},
volume = {58},
number = {5},
month = {May},
issn = {0921-8890},
pages = {676--683},
numpages = {7},
keywords = {Time Delay; Model Reference Adaptive Controller; Feedforward Compensator; Command Generator Tracker; Passive System; Teleoperation System.},
}
%0 Journal Article
%T A modified adaptive controller design for teleoperation systems
%A Hosseini Sani, Seyed Kamal
%A H. Momeni
%A F. Janabi-Sharifi
%J Robotics and Autonomous Systems
%@ 0921-8890
%D 2010
