A New Master-Slave Torque Design for Teleoperation System by T-S Fuzzy Approach

被引：44
|
作者：
Yang, Xian [1 ]
Hua, Chang-Chun [1 ]
Yan, Jing [1 ]
Guan, Xin-Ping [1 ]
机构：
[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Peoples R China
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2015年 / 23卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Bilateral teleoperation; interval time-varying delay; T-S fuzzy technology; torque design; DEPENDENT STABILITY-CRITERIA; FORCE-REFLECTION ALGORITHM; BILATERAL TELEOPERATION; TIME-DELAY; TRACKING;
D O I：
10.1109/TCST.2014.2375813
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Master-slave torque design for a bilateral teleoperation is investigated in this brief. The linearized model of teleoperation system is not constrained to be 1 degree of freedom any more. The T-S fuzzy controllers are designed for the master and slave. The stability of the closed-loop system is proved with the help of a new Lyapunov-Krasovskii functional. Both the upper bound and lower bound of the time delays are considered. Moreover, the controller gains are not constrained any longer. The relationship among the control design parameters and the bounds of time delay is presented to guarantee the stability. All the conditions are expressed as linear matrix inequalities (LMIs), which can be efficiently solved by MATLAB LMI Toolbox. Finally, both simulations and experimental investigations are presented to show the effectiveness of the proposed strategy.
引用
收藏
页码：1611 / 1619
页数：9
相关论文
共 50 条
  • [1] A master-slave robotic system for haptic teleoperation
    Caracciolo, R.
    Boschetti, G.
    De Rossi, N.
    Rosati, G.
    Trevisani, A.
    [J]. PROCEEDINGS OF THE 8TH BIENNIAL CONFERENCE ON ENGINEERING SYSTEMS DESIGN AND ANALYSIS, VOL 1, 2006, : 739 - 748
  • [2] Adaptive controller of a master-slave system for transparent teleoperation
    Lee, HK
    Chung, MJ
    [J]. JOURNAL OF ROBOTIC SYSTEMS, 1998, 15 (08): : 465 - 475
  • [3] Nonlinear adaptive control of master-slave system in teleoperation
    Hung, NVQ
    Narikiyo, T
    Tuan, HD
    [J]. CONTROL ENGINEERING PRACTICE, 2003, 11 (01) : 1 - 10
  • [4] Bondgraph Modelling for the Master-Slave Robotic Teleoperation System
    Saini, Sarvesh
    Pathak, Pushparaj M.
    Orlando, M. Felix
    [J]. 2019 28TH IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN), 2019,
  • [5] Fuzzy PID and Sliding Mode Control for Master-Slave Bilateral Teleoperation System with Disturbance Observer
    Yu Qikai
    Han Jiangyi
    Jiang Xuwei
    Yang Hongxin
    [J]. 2020 3RD WORLD CONFERENCE ON MECHANICAL ENGINEERING AND INTELLIGENT MANUFACTURING (WCMEIM 2020), 2020, : 6 - 11
  • [6] Finite-time synchronization for periodic T-S fuzzy master-slave neural networks with distributed delays*
    Liu, Chang
    Guo, Yuru
    Rao, Hongxia
    Lin, Ming
    Xu, Yong
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2021, 358 (04): : 2367 - 2381
  • [7] Design of Exoskeletal Teleoperation Master Device and Research on Master-slave Isomerism Mapping Algorithm
    Li, Jialin
    Yang, Yang
    Yang, Tie
    Zhao, Liang
    Yu, Peng
    [J]. Jiqiren/Robot, 2020, 42 (06): : 651 - 660
  • [8] A dynamics-based adaptive control for master-slave system in teleoperation
    Hung, NVQ
    Narikiyo, T
    Tuan, HD
    Fuwa, K
    [J]. NONLINEAR CONTROL SYSTEMS 2001, VOLS 1-3, 2002, : 237 - 242
  • [9] A Master-Slave Control System with Workspaces Isomerism for Teleoperation of a Snake Robot
    Ren, Lingxue
    Omisore, Olatunji Mumini
    Han, Shipeng
    Wang, Lei
    [J]. 2017 39TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2017, : 4343 - 4346
  • [10] Vision-navigated Bilateral Control for Master-slave Teleoperation System
    Sugimoto, Yasuyuki
    Murao, Toshiyuki
    Kawai, Yasunori
    Kawai, Hiroyuki
    [J]. IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, : 2481 - 2486
12345