Transparent Fuzzy Bilateral Control of a Nonlinear Teleoperation System Through State Convergence

被引：0
|
作者：
Farooq, Umar [1 ,2 ]
Gu, Jason [2 ]
El-Hawary, M. [2 ]
Asad, M. Usman [3 ]
Rafiq, Faiqa [1 ]
机构：
[1] Univ Punjab, Dept Elect Engn, Lahore 54590, Pakistan
[2] Dalhousie Univ, Dept Elect & Comp Engn, Halifax, NS, Canada
[3] Univ Lahore, Dept Elect Engn, Lahore, Pakistan
来源：
2016 INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES (ICET) | 2016年
关键词：
teleopertion systems; bilateral control; TS fuzzy control; transparency; MATLAB;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents the design of a transparent fuzzy bilateral controller for a nonlinear teleoperation system which has been approximated by a class of Takagi-Sugeno (TS) fuzzy models. After the approximation stage, TS fuzzy control laws are introduced for the master and slave robotic systems. These laws further help in developing the design conditions using the state convergence methodology. The control gains are then found as a solution of these design conditions for achieving the bilateral teleoperation. MATLAB simulations on one degree-of-freedom (DoF) nonlinear teleoperation system validate the proposed fuzzy bilateral control scheme.
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页数：6
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