Optimal adaptive computed torque control for haptic-teleoperation system with uncertain dynamics.
Tayfun AbutServet SoyguderPublished in: J. Syst. Control. Eng. (2022)
Keyphrases
- force feedback
- optimal control
- control strategy
- contact force
- dynamic model
- dynamic programming
- visual feedback
- adaptive control
- virtual reality
- robotic manipulator
- master slave
- control algorithm
- control method
- guaranteed cost
- optimal solution
- adaptive threshold
- robotic arm
- decision making
- human operators
- control scheme
- robust stability
- external disturbances
- external forces
- single input single output
- force control
- highly nonlinear
- robot control
- real time control
- induction motor
- finite element analysis
- control policy
- control architecture
- robotic systems
- closed loop
- virtual environment
- worst case
- control system
- reinforcement learning