This paper develops data-driven Type-2 Takagi–Sugeno (T–S) fuzzy modeling and control for bilateral teleoperation with dynamic uncertainties and timevarying delays. The Type-2 T–S fuzzy model identified based on input–output data samples describes the nonlinear teleoperation system by a weighted sum of a group of linear local models, which offers a platform to design robust control algorithms by means of mature linear theories. The fuzzy-model-based four-channel control laws are proposed to guarantee the motion synchronization and enhance the operator’s force perception for the environment when the time-varying delays and large dynamic uncertainties, especially the gravity of a heavy end effector of the slave, exist. Markov processes are applied to model the time delays. The stability of the closed-loop system is proved by using the Lyapunov–Krasovskii functions. All the conditions are expressed as linear-matrix inequalities (LMI). By using the MATLAB LMI toolbox, the optimized control gains for each of the fuzzy rules are derived to achieve the optimal performance. Finally, experiments based on an experimental platform consisting of two haptic devices prove the superiority of the proposed strategy through comparison with previous work. ; Funding Agensies: Singapore Academic Research Fund Office of Naval Research Global NMRC Bedside Bench


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Type-2 Fuzzy Modeling and Control for Bilateral Teleoepration System With Dynamic Uncertianties and Time-Varying Delays


    Beteiligte:
    Sun, Da (Autor:in) / Liao, Qianfang (Autor:in) / Ren, Hongliang (Autor:in)

    Erscheinungsdatum :

    2018-01-01


    Anmerkungen:

    Scopus 2-s2.0-85021813907



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays

    Moya, Viviana / Slawiñski, Emanuel / Mut, Vicente et al. | TIBKAT | 2023

    Freier Zugriff

    Anti-synchronization Control for CVBAMNNs with Time-Varying Delays

    Zhang, Ziye / Wang, Zhen / Chen, Jian et al. | Springer Verlag | 2022


    Finite-time stabilization of discontinuous fuzzy inertial Cohen–Grossberg neural networks with mixed time-varying delays

    Kong, Fanchao / Zhu, Quanxin / Sakthivel, Rathinasamy | BASE | 2021

    Freier Zugriff


    (Anti)-Synchronization for CVINNs with Time-Varying Delays

    Zhang, Ziye / Wang, Zhen / Chen, Jian et al. | Springer Verlag | 2022