Input-Output Stability Based Model Reference Adaptive Control of a Passive Pneumatic Teleoperation System

Abstract

The design of an input-output stability based model reference adaptive control system for a passive pneumatic teleoperation system is presented in this paper. The master and slave actuators of the system are connected by electric and pneumatic signals that are transmitted via long transmission lines, which substitute the use of force and pressure sensors. The system consists of a passive connection that reduces the cost and complexity of the teleoperation system as compared to other conventional systems. An adaptive controller is designed due to its ability to cope with parametric uncertainties, given that the system runs under varying operating conditions, while maintaining stability and guaranteeing a near-unity transparency ratio, as demonstrated in the provided simulation results.