Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Type-2 Fuzzy Modeling and Control for Bilateral Teleoepration System With Dynamic Uncertianties and Time-Varying Delays
National University of Singapore, Singapore, Singapore. (Center of Apllied Autonomous Sensor System)ORCID iD: 0000-0002-0334-2554
National University of Singapore, Singapore, Singapore.
National University of Singapore, Singapore, Singapore.
2018 (English)In: IEEE transactions on industrial electronics (1982. Print), ISSN 0278-0046, E-ISSN 1557-9948, Vol. 65, no 1, p. 447-459Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Piscataway, NJ, USA: IEEE, 2018. Vol. 65, no 1, p. 447-459
Keywords [en]
Bilateral teleoperation, interval timevarying, robust control, Type-2 Takagi-Sugeno (T–S) fuzzy system
National Category
Robotics
Identifiers
URN: urn:nbn:se:oru:diva-64477DOI: 10.1109/TIE.2017.2719604ISI: 000416221000044Scopus ID: 2-s2.0-85021813907OAI: oai:DiVA.org:oru-64477DiVA, id: diva2:1177020
Note

Funding Agensies:

Singapore Academic Research Fund 

Office of Naval Research Global 

NMRC Bedside Bench

Available from: 2018-01-24 Created: 2018-01-24 Last updated: 2018-01-31Bibliographically approved

Open Access in DiVA

Type-2 Fuzzy Modeling and Control for Bilateral Teleoperation System with Dynamic Uncertainties and Time-varying Delays(1452 kB)41 downloads
File information
File name FULLTEXT02.pdfFile size 1452 kBChecksum SHA-512
4d94cfac21c266d86dcfd41cd470c5544a6391849185de26e959da16d1867fb4492c00f7c14a245741ad80b710ed48714ee4ef61fcea687f1f2be79ec7a7a82f
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Sun, Da
In the same journal
IEEE transactions on industrial electronics (1982. Print)
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 41 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 53 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf