TY - GEN
T1 - Extended fuzzy logic controller for uncertain teleoperation system
AU - Kolbari, Hamidreza
AU - Sadeghnejad, Soroush
AU - Parizi, Ali Torabi
AU - Rashidi, Saghar
AU - Baltes, Jacky Hansjorg
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/3/24
Y1 - 2017/3/24
N2 - 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.
AB - 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.
KW - Experiment
KW - Novint Falcon
KW - Position Control
KW - Teleoperation
KW - Type-2 Fuzzy Controller
UR - http://www.scopus.com/inward/record.url?scp=85017507084&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85017507084&partnerID=8YFLogxK
U2 - 10.1109/ICRoM.2016.7886821
DO - 10.1109/ICRoM.2016.7886821
M3 - Conference contribution
AN - SCOPUS:85017507084
T3 - 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
SP - 78
EP - 83
BT - 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016
Y2 - 26 October 2016 through 28 October 2016
ER -