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Paper TuA205.2

Li, Zhijun (Shanghai Jiao Tong Univ.), Ding, Nan (Shanghai Jiao Tong Univ.), Cao, Xiaoqing (Shanghai Jiao Tong Univ.)

Adaptive Fuzzy Control for Synchronization of Nonlinear Teleoperators with Stochastic Time-Varying Communication Delays

Scheduled for presentation during the Regular Sessions "Teleoperation I" (TuA205), Tuesday, May 10, 2011, 10:20−10:35, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Teleoperation, Telerobotics, Neural and Fuzzy Control

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 timevarying. By feedback linearization, the nonlinear dynamics of the tele-operation system is transformed into two subsystems: 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 teleoperation 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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