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

Ramli, Mohd Syakirin and Ahmad, Hamzah and Irawan, Addie and Ibrahim, Nur Liyana (2021) Model-free tuning of laguerre network for impedance matching in bilateral teleoperation system. In: Lecture Notes in Electrical Engineering; 11th National Technical Symposium on Unmanned System Technology, NUSYS 2019 , 2 - 3 December 2019 , Kuantan, Malaysia. 329 -343., 666. ISSN 1876-1100 ISBN 978-981-15-5281-6

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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 in-feedback loop to the master manipulator has been introduced. A set of input-output 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’s 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: Indexed by Scopus
Uncontrolled Keywords: Fictitious signal; Particle Swarm Optimization; PID controller; Two-port networks; Velocity matching
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Institute of Postgraduate Studies
Depositing User: Dr Mohd Syakirin Ramli
Date Deposited: 28 Apr 2023 08:01
Last Modified: 28 Apr 2023 08:01
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