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Robust adaptive control of internet-based bilateral teleoperation systems with time-varying delay and model uncertainties
conference contribution
posted on 2019-01-01, 00:00 authored by P M Kebria, Abbas KhosraviAbbas Khosravi, Saeid Nahavandi, David WattersDavid Watters, Glenn GuestGlenn Guest, P ShiThis article introduces a robust adaptive control development to deal with internal uncertainties and external disturbances on Internet-based robotic teleoperation systems with time-varying delay. Modelling uncertainties are one of the critical challenges in control design procedure for robotic systems. In teleoperation applications interacting with unknown remote environment, latency of communication networks jeopardises stability and performance of the system. Adaptive algorithms are capable of guaranteeing the system's stability and performance under time-varying delay and uncertainties. Hence, based on the maximum magnitude of those disturbances, an adaptive control methodology is applied on an Internet-based teleoperation system to robustify its stability and performance. An extensive simulation study demonstrates effectiveness of the developed control technique.
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Event
IEEE Industrial Electronics Society. International Conference (2019 : Melbourne, Vic.)Series
IEEE Industrial Electronics Society International ConferencePagination
187 - 192Publisher
Institute of Electrical and Electronics EngineersLocation
Melbourne, Vic.Place of publication
Piscataway, N.J.Publisher DOI
Start date
2019-02-13End date
2019-02-15ISBN-13
9781538663769Language
engPublication classification
E1 Full written paper - refereedEditor/Contributor(s)
[Unknown]Title of proceedings
ICIT 2019 : Proceedings of the 2019 IEEE International Conference on Industrial TechnologyUsage metrics
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