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 in-feedback loop to the master manipulator has been introduced. A set of input-outp...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
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Springer
2021
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| Online Access: | http://umpir.ump.edu.my/id/eprint/30289/ http://umpir.ump.edu.my/id/eprint/30289/1/Model%20Free%20Tuning%20of%20Laguerre%20Network%20for%20Impedance%20Matching%20in%20Bilateral%20Teleoperation%20System.pdf http://umpir.ump.edu.my/id/eprint/30289/6/Model-free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching%20.pdf |
| _version_ | 1848823475589873664 |
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| author | Ramli, Mohd Syakirin Ahmad, Hamzah Irawan, Addie Ibrahim, Nur Liyana |
| author_facet | Ramli, Mohd Syakirin Ahmad, Hamzah Irawan, Addie Ibrahim, Nur Liyana |
| author_sort | Ramli, Mohd Syakirin |
| 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 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. |
| first_indexed | 2025-11-15T02:57:44Z |
| format | Conference or Workshop Item |
| id | ump-30289 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T02:57:44Z |
| publishDate | 2021 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-302892023-04-28T08:01:49Z http://umpir.ump.edu.my/id/eprint/30289/ Model-free tuning of laguerre network for impedance matching in bilateral teleoperation system Ramli, Mohd Syakirin Ahmad, Hamzah Irawan, Addie Ibrahim, Nur Liyana TK Electrical engineering. Electronics Nuclear engineering 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. Springer 2021 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/30289/1/Model%20Free%20Tuning%20of%20Laguerre%20Network%20for%20Impedance%20Matching%20in%20Bilateral%20Teleoperation%20System.pdf pdf en http://umpir.ump.edu.my/id/eprint/30289/6/Model-free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching%20.pdf 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 (Published) https://doi.org/10.1007/978-981-15-5281-6_23 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ramli, Mohd Syakirin Ahmad, Hamzah Irawan, Addie Ibrahim, Nur Liyana 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 | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/30289/ http://umpir.ump.edu.my/id/eprint/30289/ http://umpir.ump.edu.my/id/eprint/30289/1/Model%20Free%20Tuning%20of%20Laguerre%20Network%20for%20Impedance%20Matching%20in%20Bilateral%20Teleoperation%20System.pdf http://umpir.ump.edu.my/id/eprint/30289/6/Model-free%20tuning%20of%20laguerre%20network%20for%20impedance%20matching%20.pdf |