Mathematical Problems in Engineering
Volume 2010 (2010), Article ID 592054, 15 pages
Research Article

Adaptive Teleoperation System with Neural Network-Based Multiple Model Control

Mechanical Engineering Department, Universiti Teknologi Petronas (UTP), Bandar Seri Iskandar, 31750 Tronoh, Perak, Malaysia

Received 31 March 2010; Revised 19 July 2010; Accepted 22 July 2010

Academic Editor: Massimo Scalia

Copyright © 2010 Vu Trieu Minh and Fakhruldin Mohd Hashim. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents an adaptive teleoperation which is robust to time-delay and environmental uncertainties while assuring the transparent performance. A novel theoretical framework and algorithms for the teleoperation system have been built up with neural network-based multiple model control and time forward state observer. Conditions for stability and transparency performance are also identified. Simulations show that the system is stable and in good performance.