Event-Triggered Interval Type-2 Fuzzy Control for Uncertain Space Teleoperation Systems with State Constraints

被引：3
|
作者：
Wang, Ziwei [1 ]
Lam, Hak-Keung [2 ]
Chen, Zhang [1 ]
Liang, Bin [1 ]
Zhang, Tao [1 ]
机构：
[1] Tsinghua Univ, Dept Automat, Beijing, Peoples R China
[2] Kings Coll London, Dept Engn, London, England
来源：
2020 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE) | 2020年
基金：
中国国家自然科学基金;
关键词：
Interval type-2 fuzzy control; space teleoperation; state constraint; event-triggered communication;
D O I：
10.1109/fuzz48607.2020.9177784
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 is concerned with interval type-2 (IT2) fuzzy control design for a class of nonlinear space teleoperation systems with external disturbances and time-varying delays. IT2 fuzzy model based (FMB) control design with exponential-type Barrier Lyapunov function (EBLF) is presented to address state constraints, communication burden from ground stations to satellites (space-robot), and uncertain human/environment interaction parameters in a unified event-triggered control structure. We show that, with the proposed adaptive event-triggered control scheme, the exponential convergence performance of the synchronization tracking errors is guaranteed, while the prescribed constraint requirement is satisfied. Simulation results are provided to validate the effectiveness of the proposed controller.
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页数：8
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