Adaptive Control of Telerobotic Systems Worn by Humans
Abstract
A distinguishing feature of man is his ability to invent mechanical devices augment his physical capabilities. Traditionally, these machines have been master-slave devices with man controlling the activities of the machine. Recent work has been done to develop a control architecture for the coupled man- machine systems; however, these systems rely on a complete and detailed description of the device and its operating environment. The necessity of an environmental model places limitations on the machine's ability to perform different tasks. This report discusses how environmental dependence can be overcome through the use of a parameter estimator, which operates on data contained in the system. This report first verifies the performance of the control architecture. A linear estimation technique is then used to allow the system to adapt to an unknown time-invariant environment. Also discussed is how the results of the adaptations can be extended to the problem of an unknown time-varying environment. Telerobotic systems, Adaptive control, Combat control systems.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 27, 1993
- Accession Number
- ADA276608
Entities
People
- J. B. Bagley Jr.
Organizations
- Naval Undersea Warfare Center