Model Reference Adaptive Control Design for a Teleoperation System with Output Prediction

被引：38

作者：

Hosseini-Suny, Kamal ^{[1
]}

Momeni, Hamid ^{[1
]}

Janabi-Sharifi, Farrokh ^{[2
]}

机构：

[1] Tarbiat Modares Univ, Dept Elect Engn, Tehran, Iran

[2] Ryerson Univ, Robot Mechatron & Mfg Automat Lab, Dept Mech & Ind Engn, Toronto, ON M5B 2K3, Canada

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2010年 / 59卷 / 3-4期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Teleoperation; Time-delay; MRAC; Master robot; Slave robot; Delay estimation; Output prediction; TIME-DELAY;

D O I：

10.1007/s10846-010-9400-4

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a new control scheme is proposed to ensure stability and good performance of the teleoperation systems while a wide range of time delays in transmission line is allowed. For this purpose, a new algorithm is recommended for time delay estimation and plant output prediction in the presence of white and color noise. A model reference adaptive controller (MRAC) is designed for the master site using the predicted output of the plant. An independent MRAC is also designed and integrated for the slave site. The proposed control system indicates good stability and tracking performance.

引用

页码：319 / 339

页数：21

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