Affiliations: Lockheed Martin Global Communications, 22300 Comsat
Drive, Clarksburg, MD 20871, USA | Department of Electrical and Computer Engineering,
University of Virginia, Charlottesville, VA 22903, USA | Center for Bioengineering, University of Oklahoma,
Norman, OK 73019, USA
Note: [] This research was supported in part by the NIH grant CA70209, a
US Army breast cancer research grant, and a grant from the Potomac Edison
Company. The corresponding author is Gang Tao (gt9s@virginia.edu)
Abstract: In this paper, an adaptive control technology is presented, which
has certain application potential to teleoperation of X-ray
machines. The focus of this technology is on transparency which is an important
concept for teleoperation systems. In a transparent teleoperation, the human
operator feels as if to manipulate the slave environment directly. When a
teleoperation system is known, a fixed controller can be designed to ensure a
teleoperation control system stable and transparent. In this case, system
transparency is achieved in terms of impedance matching. However, when the
parameters of a teleoperation system are unknown, exact impedance matching is
impossible and new concepts of transparency are needed. Several suitable
adaptive control schemes are developed for control of a teleoperation system
with unknown parameters of different types: those with constant values, those
with jumping values, and those with smooth but large time-varying values.
Associated with different situations of adaptive control systems, different new
transparency concepts are introduced and verified by analysis and simulation
results.
Keywords: adaptive control, human operator, performance robustness, slave environment, stability, system uncertainties, teleoperation systems, tracking, transparency
