{"title":"非线性遥操作系统的状态收敛透明模糊双边控制","authors":"U. Farooq, J. Gu, M. El-Hawary, M. Asad, F. Rafiq","doi":"10.1109/ICET.2016.7813242","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":285090,"journal":{"name":"2016 International Conference on Emerging Technologies (ICET)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Transparent fuzzy bilateral control of a nonlinear teleoperation system through state convergence\",\"authors\":\"U. Farooq, J. Gu, M. El-Hawary, M. Asad, F. Rafiq\",\"doi\":\"10.1109/ICET.2016.7813242\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":285090,\"journal\":{\"name\":\"2016 International Conference on Emerging Technologies (ICET)\",\"volume\":\"76 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 International Conference on Emerging Technologies (ICET)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICET.2016.7813242\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 International Conference on Emerging Technologies (ICET)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICET.2016.7813242","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Transparent fuzzy bilateral control of a nonlinear teleoperation system through state convergence
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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