Fuzzy Impedance and Sliding Mode Bilateral Control in Underwater Ratio Teleoperation Based on Observer

被引:0
|
作者
Liu, Weidong [1 ]
Zhang, Jianjun [1 ]
Gao, Li'e [1 ]
机构
[1] Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian, Peoples R China
来源
关键词
SYSTEM;
D O I
暂无
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
This paper presents a bilateral control method of teleoperation for the underwater's complex and dangerous environment. The fuzzy adaptive impedance control is applied to the master robot, the integral sliding mode control is applied to the slave robot. The master and slave robot state observers are designed for the unknown interference. The ratio tracking in force and position from the master robot to the slave robot is applied in order to ensure the accuracy and flexibility of operation. The absolute stability criteria is employed for the analysis of the stability condition in bilateral control. The single freedom simulink is achieved in Matlab Simulink. It is shown that: the robustness of the master robot and the feeling from the environment is improved, the external interference is overcomed and the chattering in sliding mode control is eliminated, the flexibility of grasping is achieved by the ratio teleoperation, the whole system has a good feasibility and stability.
引用
收藏
页数:7
相关论文
共 50 条
  • [1] Sliding mode disturbance observer and Q learning-based bilateral control for underwater teleoperation systems
    Wang, Ting
    Gao, Jian
    Xie, Ou
    [J]. APPLIED SOFT COMPUTING, 2022, 130
  • [2] Bilateral Teleoperation by Sliding Mode Control and Reaction Force Observer
    Hace, Ales
    Jezernik, Karel
    [J]. IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE 2010), 2010, : 1809 - 1816
  • [3] Observer-based sliding mode impedance control of bilateral teleoperation under constant unknown time delay
    Garcia-Valdovinosa, L.-G.
    Parra-Vega, V.
    Arteaga, Marco A.
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2007, 55 (08) : 609 - 617
  • [4] Fuzzy Sliding Mode Control Design for Bilateral Teleoperation System
    Chang, Chia-Wen
    Yang, Cheng-Yuan
    Tao, Chin-Wang
    Lee, Tsu-Tian
    [J]. 2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 2017, : 549 - 552
  • [5] Observer-based fuzzy integral sliding mode control for bilateral teleoperation systems with time-varying delays
    Janani, K.
    Baranitha, R.
    Lim, Chee Peng
    Rakkiyappan, R.
    [J]. MATHEMATICS AND COMPUTERS IN SIMULATION, 2024, 225 : 1154 - 1169
  • [6] 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
  • [7] Observer-based sliding mode control for bilateral teleoperation with time-varying delays
    Yang, Hongjiu
    Liu, Lei
    Wang, Yingjie
    [J]. CONTROL ENGINEERING PRACTICE, 2019, 91
  • [8] Observer-based higher-order sliding mode impedance control of bilateral teleoperation under constant unknown time delay
    Garcia-Valdovinos, L. G.
    Parra-Vega, V.
    Arteaga, Marco A.
    [J]. 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 1692 - 1699
  • [9] Sliding Mode Control for Scaled Bilateral Teleoperation
    Hace, Ales
    Franc, Marko
    Jezernik, Karel
    [J]. IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2011,
  • [10] Bilateral Teleoperation by Sliding Mode Control Design Approach
    Hace, Ales
    [J]. INTERNATIONAL JOURNAL OF ONLINE ENGINEERING, 2008, 4 (04) : 6 - 16