DocumentCode
1975997
Title
Adaptive teleoperation systems design
Author
Hosseini-Sunny, K. ; Momeni, H. ; Janabi-Sharifi, F.
Author_Institution
Departmental of Electr. Eng., Tarbiat Modares Univ., Tehran
fYear
2005
fDate
28-31 Aug. 2005
Firstpage
334
Lastpage
339
Abstract
In this paper, an adaptive motion/force controller is developed for bilateral teleoperation systems. Design of an output feedback model reference adaptive controller (MRAC) at the remote site improves the position/velocity response with stability guarantee and a similar controller at the master site enhances the force tracking as the transmission time delay varies
Keywords
adaptive control; control system synthesis; feedback; force control; motion control; position control; stability; telerobotics; velocity control; adaptive force controller; adaptive motion controller; adaptive teleoperation system design; bilateral teleoperation systems; force tracking; model reference adaptive controller; output feedback; Adaptive control; Adaptive systems; Control systems; Force control; Force feedback; Motion control; Output feedback; Programmable control; Stability; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location
Toronto, Ont.
Print_ISBN
0-7803-9354-6
Type
conf
DOI
10.1109/CCA.2005.1507147
Filename
1507147
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