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Time Forward Observer Based Adaptive Controller for a Teleoperation System

Vu Trieu Minh and Fakhruldin Bin Mohd Hashim
International Journal of Control, Automation, and Systems, vol. 9, no. 3, pp.470-477, 2011

Abstract : This paper presents a design of a teleoperation system using time forward observer-based adaptive controller. The controller is robust to the time-variant delays and the environmental uncertainties while assuring the stability and the transparent performance. A novel theoretical framework and algorithms for this teleoperation system have been built up with neural network-based multiple model control and time forward state observer. Conditions for stability and transparency performance are also investi-gated.

Keyword : Neural network, stability, time forwad observer, time variant delay, transparent performance.

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