Adaptive Robust Model Predictive Control for Bilateral Teleoperation
Fadi Alyousef Almasalmah,Hassan Omran,Chao Liu,Bernard Bayle,Fadi Alyousef Almasalmah,Hassan Omran,Chao Liu,Bernard Bayle
In this work, we use recent developments in the field of adaptive robust Model Predictive Control (MPC) to build a controller for bilateral teleoperation systems. To guarantee robust constraint satisfaction, we incorporate polytopic tube controllers in the MPC design. In addition, we use online learning methods to learn the environment model. Namely, we use set membership learning to learn the par...
