Adaptive Fuzzy Control for Synchronization of Nonlinear Teleoperators with Stochastic Time-varying Communication Delays
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.
Zhijun Li Nan Ding Xiaoqing Cao
Department of Automation,Shanghai Jiao Tong University,Shanghai,200240,China
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
880-885
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）