Adaptive control of teleoperation systems

Adaptive control of teleoperation systems

We develop suitable adaptive control schemes for control of a teleoperation system with unknown parameters of different types: those with constant values, those with jumping values, and those with smooth but large time-varying values. Associated with different situations of adaptive control systems,...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Shi, M., Tao, G., Liu, H., Hunter Downs, J.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Adaptive control
Communication system control
Control systems
Humans
Impedance
Master-slave
Robots
Stability
Teleoperators
Time varying systems
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Beschreibung
Zusammenfassung:We develop suitable adaptive control schemes for control of a teleoperation system with unknown parameters of different types: those with constant values, those with jumping values, and those with smooth but large time-varying values. Associated with different situations of adaptive control systems, different new transparency concepts are introduced and verified by analysis and simulation results.
ISSN:0191-2216
DOI:10.1109/CDC.1999.832886