Model Reference Adaptive Control Design for a Teleoperation System with Output Prediction

In this paper a new control scheme is proposed to ensure stability and performance of the teleoperation systems while a wide range of time delay of transmission line is allowed. For this mean, time delay is estimated and used to predict the plant output. A model reference adaptive controller (MRAC) is designed for the master site using the predicted output of the plant. The proposed control system indicates good stability and force tracking performance. For the slave site, an independent MRAC is designed and it is shown that a good tracking for the position and velocity signals is achieved.