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

作者：Yang, Xian^*; Hua, Chang-Chun; Yan, Jing; Guan, Xin-Ping

来源：IEEE Transactions on Control Systems Technology, 2015, 23(4): 1611-1619.

DOI：10.1109/TCST.2014.2375813

• Bilateral teleoperation
• interval time-varying delay
• T-S fuzzy technology
• torque design

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.

• 出版日期2015-7
• 单位燕山大学; 中国科学院电工研究所