A multi-model adaptive control system for teleoperation via Internet Export

@inproceedings{Kamrani2004, abstract = {We introduce a new multivariable control method for real-time telerobotic operations via the Internet. Random communications delay of the Internet can cause instability in real-time closed-loop telerobotic systems. When a single identification model is used, it will have to adapt itself to the operating condition before an appropriate control mechanism can be applied. Slow adaptation may result in a large transient error. As an alternative, we propose to use a multiple model framework. The control strategy is to determine the best model for the current operating condition and activate the corresponding controller. We propose the use of multi-model adaptive control theory and multivariable wave prediction method to capture the concurrency and complexity of Internet-based teleoperation.}, author = {Kamrani, E. and Momeni, H. R. and Sharafat, A. R.}, booktitle = {Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on}, citeulike-article-id = {1679513}, keywords = {adaptive, bibtex-import, closed, closed-loop, control, internet, loop, method, multimodel, multivariable, prediction, real-time, system, systems, telerobotic, telerobotics, wave}, pdf = {U:\09 Literatur verarbeitet\Kamrani2004 - A Multi-Model Adaptive Control System for Teleoperation via Internet.pdf}, posted-at = {2007-09-20 17:17:24}, priority = {0}, title = {A multi-model adaptive control system for teleoperation via Internet}, volume = {2}, year = {2004} }

TY - CONF ID - Kamrani2004 L3 - citeulike-article-id:1679513 N2 - We introduce a new multivariable control method for real-time telerobotic operations via the Internet. Random communications delay of the Internet can cause instability in real-time closed-loop telerobotic systems. When a single identification model is used, it will have to adapt itself to the operating condition before an appropriate control mechanism can be applied. Slow adaptation may result in a large transient error. As an alternative, we propose to use a multiple model framework. The control strategy is to determine the best model for the current operating condition and activate the corresponding controller. We propose the use of multi-model adaptive control theory and multivariable wave prediction method to capture the concurrency and complexity of Internet-based teleoperation. TI - A multi-model adaptive control system for teleoperation via Internet VL - 2 T2 - Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on KW - adaptive KW - bibtex-import KW - closed KW - closed-loop KW - control KW - internet KW - loop KW - method KW - multimodel KW - multivariable KW - prediction KW - real-time KW - system KW - systems KW - telerobotic KW - telerobotics KW - wave AU - Kamrani, E AU - Momeni, HR AU - Sharafat, AR PY - 2004/// ER -