A New Master-Slave Torque Design for Teleoperation System by T-S Fuzzy Approach

Author

Xian Yang ; Chang-Chun Hua ; Jing Yan ; Xin-Ping Guan

Author_Institution

Inst. of Electr. Eng., Yanshan Univ., Qinhuangdao, China

Volume

23

Issue

4

fYear

2015

fDate

42186

Firstpage

1611

Lastpage

1619

Abstract

Master-slave torque design for a bilateral teleoperation is investigated in this brief. The linearized model of teleoperation system is not constrained to be 1 degree of freedom any more. The T-S fuzzy controllers are designed for the master and slave. The stability of the closed-loop system is proved with the help of a new Lyapunov-Krasovskii functional. Both the upper bound and lower bound of the time delays are considered. Moreover, the controller gains are not constrained any longer. The relationship among the control design parameters and the bounds of time delay is presented to guarantee the stability. All the conditions are expressed as linear matrix inequalities (LMIs), which can be efficiently solved by MATLAB LMI Toolbox. Finally, both simulations and experimental investigations are presented to show the effectiveness of the proposed strategy.

Keywords

Lyapunov methods; closed loop systems; control system synthesis; delays; fuzzy control; linear matrix inequalities; linear systems; mathematics computing; stability; telecontrol; torque control; LMI; Lyapunov-Krasovskii functional; Matlab; T-S fuzzy controllers; closed-loop system; linear matrix inequalities; linearized model; master-slave torque design; stability; teleoperation system; time delays; Delays; Force; Linear matrix inequalities; Mathematical model; Stability analysis; Teleoperators; Torque; Bilateral teleoperation; T-S fuzzy technology; interval time-varying delay; torque design; torque design.;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2014.2375813

Filename

6990603