Author

Armin Attarzadeh

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Preprint Aug 2026

Adaptive RBFNN Control of Uncertain Bilateral Teleoperation Systems with Delay-Dependent LMI Stability Conditions

Bilateral teleoperation requires stability despite uncertain master and slave dynamics and delayed communication channels. Existing radial basis function neural network (RBFNN) controllers mainly differ in uncertainty decomposition, while online adaptive parameters often increase with network size. This paper proposes...

Mohammadali Ghaemifar, Arshia Goshtasbi, Arian Hajizadeh et al. · 1 citation

Jul 2026

Deep Reinforcement Learning for Adaptive Gain Tuning in Control of Teleoperation Manipulators with Joint Flexibility and Time-Varying Delays

A hybrid control method that combines a stable Proportional-plus-Damping (P+d) controller with a model-free deep reinforcement learning agent based on the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm to provide a practical solution for teleoperation systems facing both joint flexibility and uncertain...

Armin Attarzadeh, Mohammadali Ghaemifar, A. Khanzadeh et al. · arXiv.org · 2 citations