Title :
A new adaptive inverse control scheme for teleoperation system with varying time delay
Author :
Sadeghi, M. Sha ; Momeni, H.R. ; Amirifar, R. ; Ganjefar, S.
Author_Institution :
Dept. of Electr. Eng., Tarbiat Modares Univ., Tehran
Abstract :
This paper presents a new force-reflecting teleoperation control system scheme with varying time delay. Time delay is an unavoidable factor in teleoperation. Transmission time delays are possibly destabilizing, and reduce significantly ability of teleoperation. Considering the time-varying non-deterministic characteristic of the control and delays, a novel adaptive inverse controller is proposed. Moreover, force feedback is provided to ascertain that the system is robust and transparent. An elaborate and special strategy is presented to design the reference model for adapting the slave-side controller, and accordingly, drift in position tracking has been compensated in free motion status and reduced in hard contact
Keywords :
adaptive control; delay systems; force feedback; time-varying systems; adaptive inverse control; force feedback; slave-side controller; teleoperation control system; time varying delay system; Adaptive control; Communication system control; Control systems; Delay effects; Force control; Master-slave; Open loop systems; Programmable control; Stability analysis; Teleoperators;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776646
