Extended fuzzy logic controller for uncertain teleoperation system

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

研究成果: 書貢獻/報告類型會議論文篇章

7 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
發行者Institute of Electrical and Electronics Engineers Inc.
頁面78-83
頁數6
ISBN(電子)9781509032228
DOIs
出版狀態已發佈 - 2017 三月 24
事件4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016 - Tehran, 伊朗伊斯兰共和国
持續時間: 2016 十月 262016 十月 28

出版系列

名字4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016

其他

其他4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
國家/地區伊朗伊斯兰共和国
城市Tehran
期間2016/10/262016/10/28

ASJC Scopus subject areas

  • 機械工業
  • 人工智慧
  • 控制與系統工程
  • 控制和優化

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