Proceedings Article10.1109/ICRA.2011.5979884
Adaptive fuzzy control for synchronization of nonlinear teleoperators with stochastic time-varying communication delays
Zhijun Li,Nan Ding,Xiaoqing Cao +2 more
- 09 May 2011
- pp 880-885
74
TL;DR: In this article, an adaptive fuzzy control for nonlinear teleoperators with time-delays is investigated, which ensures synchronization of positions and velocities of the master and slave manipulators, and does not rely on the use of the scattering transformation.
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Abstract: In this paper, adaptive fuzzy control is investigated for nonlinear teleoperators with time-delays, which ensures synchronization of positions and velocities of the master and slave manipulators, and does not rely on the use of the scattering transformation. Compared with previous passivity framework, the communication delays are assumed to be stochastic time-varying. By feedback linearization, the nonlinear dynamics of the tele-operation system is transformed into two sub-systems: local master/slave position control with unmodelled dynamics and delayed motion synchronization. Then, based on linear matrix inequalities (LMI) and Markov jump linear systems, adaptive fuzzy control strategies are developed for the nonlinear teleoperators with time-delay, modeling uncertainties and external disturbances by using the approximation property of the fuzzy logic systems. It is proven that the master-slave tele-operation system is stochastically stable in mean square under specific LMI conditions, and all the signals of the resulting closed-loop system are uniformly bounded.
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References
Brief paper: Synchronization of bilateral teleoperators with time delay
TL;DR: A novel adaptive coordination architecture is proposed which uses state feedback to define a new passive output for the master and slave robots containing both position and velocity information and which guarantees ultimate boundedness of the master/slave trajectories on contact with a passive environment.
370
A Globally Stable PD Controller for Bilateral Teleoperators
TL;DR: It is proved that it is indeed possible to achieve stable behavior with simple PD-like schemes-even without the delayed derivative action-under the classical assumption of passivity of the terminal operators.
297
Internet based teleoperation using wave variables with prediction
S. Munir,Wayne J. Book +1 more
- 08 Jul 2001
TL;DR: It is shown that the resulting system is stable even if there are large uncertainties in the model of the remote system (used in prediction) and the time delay is varying and unpredictable.
Output Feedback NN Control for Two Classes of Discrete-Time Systems With Unknown Control Directions in a Unified Approach
TL;DR: In this paper, output feedback adaptive neural network (NN) controls are investigated for two classes of nonlinear discrete-time systems with unknown control directions: nonlinear pure-feedback systems and nonlinear autoregressive moving average with exogenous inputs (NARMAX).
Delay-Dependent Stability Criteria of Teleoperation Systems With Asymmetric Time-Varying Delays
Changchun Hua,Xiaoping P. Liu +1 more
TL;DR: This paper shows that the master-slave teleoperation system is stable under specific linear-matrix-inequality (LMI) conditions by choosing Lyapunov-Krasovskii functional and can be used to compute the allowable maximal transmission delay.
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