Disturbance observer supported fuzzy model based controller with application to bilateral teleoperation systems

被引：1

作者：

Asad, Muhammad Usman ^{[1
]}

Gu, Jason ^{[1
]}

Farooq, Umar ^{[1
,3
]}

Balas, Marius ^{[2
]}

Chen, Zheng ^{[4
]}

Qureshi, Khurram Karim ^{[5
]}

Abbas, Ghulam ^{[6
]}

Chang, Chunqi ^{[7
]}

机构：

[1] Dalhousie Univ, Dept Elect & Comp Engn, Halifax, NS, Canada

[2] Auriel Vlaicu Univ Arad, Dept Informat, Arad, Romania

[3] Intelligent Syst Lab & Automat Facil ISLAF, Lahore, Pakistan

[4] Zhejiang Univ, Ocean Coll, Hangzhou, Zhejiang, Peoples R China

[5] King Fand Univ Petr & Minerals KFUPM, Dept Elect Engn, Dhahran, Saudi Arabia

[6] Univ Lahore, Dept Elect Engn, Lahore, Pakistan

[7] Shenzhen Univ, Sch Biomed Engn, Shenzhen, Peoples R China

来源：

JOURNAL OF INTELLIGENT & FUZZY SYSTEMS | 2022年 / 43卷 / 02期

关键词：

TS fuzzy modeling; parallel distributed compensation; state convergence; teleoperation; MATLAB/Simulink/QUARC; DESIGN; STATE;

D O I：

10.3233/JIFS-219292

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes a disturbance observer supported Takagi-Sugeno (TS) fuzzy model-based control scheme for uncertain systems. The baseline controller is a guaranteed performance fuzzy model based parallel distributed controller (PDC) which is constructed using the nominal system's parameters. The model approximation error and parametric uncertainties are treated as a lumped disturbance and a nonlinear disturbance observer (NDOB) is introduced to counter the lumped disturbance. The applicability of the proposed scheme is demonstrated on the bilateral control of nonlinear teleoperation system in MATLAB/Simulink/QUARC environment through simulations as well as semi-real time experiments.

引用

页码：1911 / 1919

页数：9

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