Adaptive Teleoperation System with Neural Network-Based Multiple Model Control. (1st September 2010)

• Record Type: Journal Article
• Authors: Minh, Vu Trieu; Mohd Hashim, Fakhruldin
• Other Names: Scalia Massimo Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2010(2010)
• Publication Date: 2010-09-01
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2010/592054
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : This paper presents an adaptive teleoperation which is robust to time-delay and environmental uncertainties while assuring the transparent performance. A novel theoretical framework and algorithms for the 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 identified. Simulations show that the system is stable and in good performance.