Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

Abstract

This paper presents the design of a state convergence (SC) based bilateral controller for a nonlinear teleoperation system which has been approximated by a Takagi-Sugeno (TS) fuzzy model. The selection of SC is made due to the advantages offered by this scheme both in the modeling and control design stages. The modeling stage considers master/slave systems which can be represented by n th order differential equations while the control design stage offers an easy way to determine the control gains required for assigning desired closed loop dynamics to teleoperation system. After the master/slave systems are represented by TS fuzzy models, a stabilizing fuzzy law is adopted which allows deploying the SC scheme with all its benefits to design the fuzzy bilateral controller. In this way, not only the simplicity of the design scheme is ensured but also the existing SC scheme is able to control a nonlinear teleoperation system based on its TS fuzzy model description. As an additional advantage, the SC based existing linear bilateral controller can be easily derived from the SC based proposed fuzzy bilateral controller. Various cases of master/slave systems originally reported in terms of their linear model representation and communication in the absence/presence of time delay are all discussed in the corresponding fuzzy framework. MATLAB simulations considering a one-degree-of-freedom (DoF) teleoperation system are performed to validate the proposed methodology for controlling a nonlinear teleoperation system.

An enhanced state convergence architecture incorporating disturbance observer for bilateral teleoperation systems

“…The effect of these uncertainties has been numerically evaluated on the performance of the state convergence controller in the literature. 28,29 It is found that the bilateral controller is quite robust to more than 50% variation in the model parameters. However, the effect of these parametric uncertainties has not been explicitly considered during the design phase of the scheme which has motivated us to perform this study.…”

“…25,26 State convergence is another novel method for contact motion of bilateral teleoperation systems. [27][28][29] It models nth-order master and slave systems on state space and provides a systematic design procedure to establish the bilateral communication between these systems. The control gains of the scheme are obtained by solving 3n þ 1 design equations which are the result of (1) transforming slavemaster error into an autonomous system and (2) imposing the desired dynamic behavior to the slave and error systems.…”

Enhanced teleoperation performance using hybrid control and virtual fixture

“…Javier et al developed a haptic assistance method to enhance the tracking performance and human machine interaction of a teleoperation system (Corredor et al, 2017). In (Farooq et al, 2016), the authors presented a state convergence-based control method with a Takagi-Sugeno (TS) fuzzy model for nonlinear teleoperation system. Havoutis et al (Havoutis et al, 2017) developed an integrated method involving optimal control and online learning to accomplish a manipulation task for underwater remotely operated vehicles during supervisory teleoperation.…”

Implementation of a TSMCSPO Controller on a 3-DOF Hydraulic Manipulator for Position Tracking and Sensor-Less Force Estimation

“…Stability analysis was carried out to validate the stability of the system. Farooq et al [5] suggested a strategy of bilateral control for nonlinear teleoperated system application. They implemented Takagi-Sugeno (TS) fuzzy model approximation for their proposed design.…”