적응형 임피던스 매칭을 이용한 양방향 원격제어 시스템의 설계

The time delay problem has to be solved in order to control the remote control system steadily. In the fixed time delay, the existing impedance matching guarantees stability and the force feedback is possible and it can secure a transparency. However, in the time-variable time delay, the unstable operation can be shown. And in this paper, a model that the particular impedance value is adaptively controlled and by using the neural network it can operate to be stable in the time-variable time delay are proposed. And a performance was verified through the comparison simulation with an existing method.