Extended fuzzy logic controller for uncertain teleoperation system

Hamidreza Kolbari, Soroush Sadeghnejad, Ali Torabi Parizi, Saghar Rashidi, Jacky Hansjorg Baltes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Teleoperation systems allow a surgeon to perform a remote distance operation with or without magnification. Nonlinearity and unknown dynamics of master and slave robots, in teleoperation systems, make it challenging to guarantee stability and convergence of the position tracking error in such systems. This paper presents an interval Type-2 Fuzzy (T2F) logic controller to control position of a teleoperation system without knowing dynamics of master and slave robots. Interval T2F controller have been recently applied in many engineering fields while understanding the control potentials of interval T2F still have been an open question for researches. The control methodology is baseline optimized Type-1 Fuzzy (T1F) Controllers. Although, the performance of T1F controller, deals with unknown dynamics, is reasonable, but in comparison to interval T2F controller, when uncertainties are increased, it has weaker performance. The performance of the controller has been evaluated on the test-bed consists of two Novint Falcon robots as the master and slave. The experimental results show improved performance of interval T2F controllers in comparison to T1F controllers.

Original languageEnglish
Title of host publication4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages78-83
Number of pages6
ISBN (Electronic)9781509032228
DOIs
Publication statusPublished - 2017 Mar 24
Event4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 - Tehran, Iran, Islamic Republic of
Duration: 2016 Oct 262016 Oct 28

Publication series

Name4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016

Other

Other4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
CountryIran, Islamic Republic of
CityTehran
Period16/10/2616/10/28

Keywords

  • Experiment
  • Novint Falcon
  • Position Control
  • Teleoperation
  • Type-2 Fuzzy Controller

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Control and Systems Engineering
  • Control and Optimization

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  • Cite this

    Kolbari, H., Sadeghnejad, S., Parizi, A. T., Rashidi, S., & Baltes, J. H. (2017). Extended fuzzy logic controller for uncertain teleoperation system. In 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 (pp. 78-83). [7886821] (4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2016.7886821