Adaptive Inverse Controller Designe for a Time-Delayed Force Reflection Bilateral Teleoperation system

Time delay reduces significantly ability of teleoperation. To overcome the trouble, a novel adaptive inverse controller is proposed. Moreover, force feedback is provided to ensure that the system is robust, asymptotically stable and transparent. Special strategy has been peresented to determine the reference model for adapting the slave-side controller and accordingly, drift in position tracking has been compensated.

کلیدواژه ها:

Teleoperation ، inverse control ، biliateral force feedback ، time delay ، adaptive filter