Journal of Intelligent & Robotic Systems

, Volume 59, Issue 3–4, pp 319–339 | Cite as

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

  • Kamal Hosseini-Suny
  • Hamid Momeni
  • Farrokh Janabi-Sharifi


In this paper, a new control scheme is proposed to ensure stability and good performance of the teleoperation systems while a wide range of time delays in transmission line is allowed. For this purpose, a new algorithm is recommended for time delay estimation and plant output prediction in the presence of white and color noise. A model reference adaptive controller (MRAC) is designed for the master site using the predicted output of the plant. An independent MRAC is also designed and integrated for the slave site. The proposed control system indicates good stability and tracking performance.


Teleoperation Time-delay MRAC Master robot Slave robot Delay estimation Output prediction 


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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Kamal Hosseini-Suny
    • 1
  • Hamid Momeni
    • 1
  • Farrokh Janabi-Sharifi
    • 2
  1. 1.Departmental of Electrical EngineeringTarbiat Modarres UniversityTehranIran
  2. 2.Robotics, Mechatronics, and Manufacturing Automation Laboratory (RMAL), Department of Mechanical and Industrial EngineeringRyerson UniversityTorontoCanada

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