Model free tuning of laguerre network for impedance matching in bilateral teleoperation system
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...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
Springer
2021
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| Online Access: | http://umpir.ump.edu.my/id/eprint/28445/ http://umpir.ump.edu.my/id/eprint/28445/1/59.%20Model%20free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching.pdf http://umpir.ump.edu.my/id/eprint/28445/2/59.1%20Model%20free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching.pdf |
| _version_ | 1848823055594291200 |
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| author | Mohd Syakirin, Ramli Hamzah, Ahmad Addie Irawan, Hashim Nur Liyana, Ibrahim |
| author_facet | Mohd Syakirin, Ramli Hamzah, Ahmad Addie Irawan, Hashim Nur Liyana, Ibrahim |
| author_sort | Mohd Syakirin, Ramli |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-15T02:51:03Z |
| format | Conference or Workshop Item |
| id | ump-28445 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T02:51:03Z |
| publishDate | 2021 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-284452021-01-26T02:00:56Z http://umpir.ump.edu.my/id/eprint/28445/ Model free tuning of laguerre network for impedance matching in bilateral teleoperation system Mohd Syakirin, Ramli Hamzah, Ahmad Addie Irawan, Hashim Nur Liyana, Ibrahim QA75 Electronic computers. Computer science 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. Springer 2021 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/28445/1/59.%20Model%20free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching.pdf pdf en http://umpir.ump.edu.my/id/eprint/28445/2/59.1%20Model%20free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching.pdf 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 (Published) https://doi.org/10.1007/978-981-15-5281-6_23 |
| spellingShingle | QA75 Electronic computers. Computer science Mohd Syakirin, Ramli Hamzah, Ahmad Addie Irawan, Hashim Nur Liyana, Ibrahim Model free tuning of laguerre network for impedance matching in bilateral teleoperation system |
| title | Model free tuning of laguerre network for impedance matching in bilateral teleoperation system |
| title_full | Model free tuning of laguerre network for impedance matching in bilateral teleoperation system |
| title_fullStr | Model free tuning of laguerre network for impedance matching in bilateral teleoperation system |
| title_full_unstemmed | Model free tuning of laguerre network for impedance matching in bilateral teleoperation system |
| title_short | Model free tuning of laguerre network for impedance matching in bilateral teleoperation system |
| title_sort | model free tuning of laguerre network for impedance matching in bilateral teleoperation system |
| topic | QA75 Electronic computers. Computer science |
| url | http://umpir.ump.edu.my/id/eprint/28445/ http://umpir.ump.edu.my/id/eprint/28445/ http://umpir.ump.edu.my/id/eprint/28445/1/59.%20Model%20free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching.pdf http://umpir.ump.edu.my/id/eprint/28445/2/59.1%20Model%20free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching.pdf |