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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.

History

Event

Automation Science and Engineering. Conference (2019 : 15th : Vancouver, British Columbia)

Pagination

1631 - 1636

Publisher

IEEE

Location

Vancouver, British Columbia

Place of publication

Piscataway, N.J.

Start date

2019-08-22

End date

2019-08-26

ISSN

2161-8070

eISSN

2161-8089

ISBN-13

9781728103556

Language

eng

Publication classification

E1 Full written paper - refereed

Title of proceedings

CASE 2019 : Proceedings of the 15th IEEE International Conference on Automation Science and Engineering

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