Stable design of fuzzy controllers for robotic telemanipulation applications

Author

Precup, Radu-Emil ; Preitl, Stefan ; Petriu, Emil M. ; Tar, Jozsef K. ; Radac, Mircea-Bogdan ; Dragos, Claudia-Adina

Author_Institution

Politeh. Univ. of Timisoara, Timisoara

fYear

2009

fDate

March 30 2009-April 2 2009

Firstpage

1

Lastpage

6

Abstract

The paper presents a stable design approach for a new class of Takagi-Sugeno PI-fuzzy servo-controllers used in robotic telemanipulation. The approach makes use of the iterative feedback tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach. Emphasis is put on system´s behavior with respect to several modifications of the disturbance input specific to virtual environments.

Keywords

PI control; control system synthesis; feedback; fuzzy control; iterative methods; matrix algebra; servomechanisms; telerobotics; Takagi-Sugeno PI servo-controllers; fuzzy controllers design; iterative feedback tuning; matrix space; modal equivalence principle; nonlinearity vectors; robotic telemanipulation applications; Delay effects; Fuzzy control; Iterative methods; Linear feedback control systems; Linear matrix inequalities; Robot control; Stability analysis; Takagi-Sugeno model; Transfer functions; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Virtual Environments, 2009. CIVE '09. IEEE Workshop on

Conference_Location

Nashville, TN

Print_ISBN

978-1-4244-2772-7

Type

conf

DOI

10.1109/CIVE.2009.4926310

Filename

4926310