A multi-model adaptive control system for teleoperation via Internet

We introduce a new multivariable control method for real-time telerobotic operations via the Internet. Random communications delay of the Internet can cause instability in real-time closed-loop telerobotic systems. When a single identification model is used, it will have to adapt itself to the operating condition before an appropriate control mechanism can be applied. Slow adaptation may result in a large transient error. As an alternative, we propose to use a multiple model framework. The control strategy is to determine the best model for the current operating condition and activate the corresponding controller. We propose the use of multi-model adaptive control theory and multivariable wave prediction method to capture the concurrency and complexity of Internet-based teleoperation.