Multiestimation-based adaptive control of robotic manipulators with applications to master slave tandems

摘要

Abstract: A multiestimation-based adaptive controller is designed for robotic manipulators. Multiestimation based techniques can improve the transient response of adaptive systems by switching between the various estimation schemes. The switching process is subject to a minimum dwell or residence time in order to guarantee stability. Then, the multiestimation scheme is applied to the teleoperation of robotic manipulators. The robots are controlled by using an impedance type control, which is a typical architecture of control in teleoperation processes.