A modified adaptive controller design for teleoperation systems

作者：Hosseini Suny K; Momeni H; Janabi Sharifi F^*

来源：Robotics and Autonomous Systems, 2010, 58(5): 676-683.

DOI：10.1016/j.robot.2009.11.006

• Time delay
• Model reference adaptive controller
• Feedforward compensator
• Command generator tracker
• Passive system
• Teleoperation system

In this paper, a new adaptive controller is proposed to ensure the 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.

• 出版日期2010-5-31