Open AccessAdaptive Teleoperation System with Neural Network‐Based Multiple Model Control
Author(s) -
Vu Trieu Minh,
Fakhruldin Mohd Hashim
Publication year - 2010
Publication title -
mathematical problems in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.262
H-Index - 62
eISSN - 1026-7077
pISSN - 1024-123X
DOI - 10.1155/2010/592054
Subject(s) - teleoperation , transparency (behavior) , artificial neural network , stability (learning theory) , computer science , control engineering , control theory (sociology) , observer (physics) , engineering , control (management) , artificial intelligence , machine learning , computer security , quantum mechanics , physics
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
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