Model free tuning of laguerre network for impedance matching in bilateral teleoperation system

Mohd Syakirin, Ramli and Hamzah, Ahmad and Addie Irawan, Hashim and Nur Liyana, Ibrahim (2021) Model free tuning of laguerre network for impedance matching in bilateral teleoperation system. In: Proceedings of the 11th National Technical Seminar on Unmanned System Technology 2019 (NUSYS’19) , 2-3 December 2019 , Universiti Malaysia Pahang, Gambang Campus, Kuantan, Pahang, Malaysia. pp. 329-343., 666. ISBN 978-981-15-5281-6

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Abstract

This paper addresses the tuning method to attain symmetry between the master and slave manipulators of a bilateral teleoperation system. In the proposed structure, an equalizer based on the Laguerre network connected infeedback loop to the master manipulator has been introduced. A set of inputoutput data were first generated and recorded which later be used in two-steps tuning procedure. A fictitious reference signal was formulated based on these data. In addition, a metaheuristic optimization algorithm namely the Particle Swarm Optimization has been employed in seeking the optimal controller parameters. Numerical analyses utilizing Matlab software has been performed. The results exhibited that the dynamic of the master manipulator with the added controller is almost identical to the dynamic of the slave systems. Hence, it is verified that the proposed tuning technique is feasible to achieve symmetry between both sides of the manipulators.

Item Type:	Conference or Workshop Item (Lecture)
Additional Information:	Part of the Lecture Notes in Electrical Engineering book series (LNEE)
Uncontrolled Keywords:	Fictitious signal, PID controller, Particle swarm optimization, Twoport networks, Velocity Matching
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Faculty/Division:	Faculty of Electrical & Electronic Engineering
Depositing User:	Pn. Hazlinda Abd Rahman
Date Deposited:	26 Jan 2021 02:00
Last Modified:	26 Jan 2021 02:00
URI:	http://umpir.ump.edu.my/id/eprint/28445
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