In this paper a new control scheme is proposed to ensure stability and performance of the teleoperation systems while a wide range of time delay of transmission line is allowed. For this mean, time delay is estimated and used to predict the plant output. A model referen More
In this paper a new control scheme is proposed to ensure stability and performance of the teleoperation systems while a wide range of time delay of transmission line is allowed. For this mean, time delay is estimated and used to predict the plant output. A model reference adaptive controller (MRAC) is designed for the master site using the predicted output of the plant. The proposed control system indicates good stability and force tracking performance. For the slave site, an independent MRAC is designed and it is shown that a good tracking for the position and velocity signals is achieved.
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In this paper a controller using fuzzy gain-scheduling for the channels of a tactical missile is designed such that in flight trajectories, performance is achieved. In this design method, the fuzzy gain-scheduling zone centers are determined by a training algorithm acco More
In this paper a controller using fuzzy gain-scheduling for the channels of a tactical missile is designed such that in flight trajectories, performance is achieved. In this design method, the fuzzy gain-scheduling zone centers are determined by a training algorithm according to dynamic pressure, Mach number and coefficients of linear model of system in major operating points. The fuzzy system is learned using combined genetic and linear least squares algorithms. In this manner both global optimum solution and fast convergence are reachable. Moreover the membership functions in fuzzy inference system are chosen with special and suitable properties, which cause simple and effective scheduling process. Performance of this method is shown with case study simulation result.
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This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. In this approach, using the Smith predictor idea, an impedance controller and an adaptive inverse controller are designed, respectivel More
This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. In this approach, using the Smith predictor idea, an impedance controller and an adaptive inverse controller are designed, respectively, for the master and slave robots such that the stability and performance of the closed-loop system are achieved in the presence of communication channels varying time delay. Also, based on robust control theory, two sufficient conditions for the stability of overall system are derived. The time domain desired specifications are contained in the design problem using the standard characteristic polynomials. Also, the proposed approach is compared with the sliding mode control. The simulation results show the proposed approach successfully compensates the position drift although time delay is randomly varying.
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