In this paper, an adaptive control technology is presented, which
has certain application potential to teleoperation of
$X$
-ray
machines. The focus of this technology is on transparency which is an important
concept for teleoperation systems. In a transparent teleoperation, the human
operator feels as if to manipulate the slave environment directly. When a
teleoperation system is known, a fixed controller can be designed to ensure a
teleoperation control system stable and transparent. In this case, system
transparency is achieved in terms of impedance matching. However, when the
parameters of a teleoperation system are unknown, exact impedance matching is
impossible and new concepts of transparency are needed. Several suitable
adaptive control schemes are developed for control of a teleoperation system
with unknown parameters of different types: those with constant values, those
with jumping values, and those with smooth but large time-varying values.
Associated with different situations of adaptive control systems, different new
transparency concepts are introduced and verified by analysis and simulation
results.
