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Adaptive type-2 fuzzy control scheme for robust teleoperation under time-varying delay and uncertainties
conference contribution
posted on 2019-08-01, 00:00 authored by P M Kebria, Abbas KhosraviAbbas Khosravi, Seyed Mohammad Jafar Jalali, Saeid Nahavandi© 2019 IEEE. This study investigates the stability and performance issues in teleoperation systems due to latency and uncertainties. Interaction with the remote environment introduces unknown forces to the slave system that requires a robust control method for a stable operation. On the other side, network delays dramatically threatens the stability of the teleoperation process. Moreover, uncertainty sources such as human operator and system parameters further decreases the efficiency of the teleoperation task. Therefore, this paper proposes a type-2 fuzzy based adaptive control methodology to deal with the uncertainty concerns in teleoperation systems. First, the considered teleoperation system is expressed by type2 fuzzy rules. Then, applying Lyapunov-Krasovskii analysis method, an adaptive algorithm is developed for updating the control parameters to guarantee the system performance and stability. Finally, the effectiveness of the proposed adaptive type2 fuzzy control methodology is experimentally evaluated on a haptic teleoperation setup.
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Event
Automation Science and Engineering. Conference (2019 : 15th : Vancouver, British Columbia)Pagination
1631 - 1636Publisher
IEEELocation
Vancouver, British ColumbiaPlace of publication
Piscataway, N.J.Publisher DOI
Start date
2019-08-22End date
2019-08-26ISSN
2161-8070eISSN
2161-8089ISBN-13
9781728103556Language
engPublication classification
E1 Full written paper - refereedTitle of proceedings
CASE 2019 : Proceedings of the 15th IEEE International Conference on Automation Science and EngineeringUsage metrics
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