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Adaptive Fuzzy Control for Teleoperation System with Uncertain Kinematics and Dynamics

  • Liang YangEmail author
  • Yong Chen
  • Zhi Liu
  • Kairui Chen
  • Zixuan Zhang
Article
  • 6 Downloads

Abstract

In this paper, we address the problem of adaptive tracking control for a teleoperation system with uncertainties in both kinematics and dynamics. Its solution is difficult to establish as the real control torque will be wrapped in the coupling of kinematic and dynamic uncertainties. To overcome this difficulty, we developed an adaptive control approach with the aid of fuzzy logic systems designed to approximate uncertain dynamics so that the real control can be separated from the coupling uncertainties. With our scheme, the boundedness of all the closed-loop signals is ensured, and at the same time the tracking errors go to a residual around zero as time tends to infinity. The effectiveness of the obtained results will be illustrated through experimental tests.

Keywords

Adaptive control fuzzy logic systems teleoperation uncertain kinematics and dynamics 

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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  • Liang Yang
    • 1
    • 2
    Email author
  • Yong Chen
    • 2
  • Zhi Liu
    • 3
  • Kairui Chen
    • 1
    • 3
  • Zixuan Zhang
    • 1
  1. 1.School of Computer Engineering, University of Electronic Science and Technology of ChinaZhongshan InstituteZhongshan, GuangdongChina
  2. 2.School of Automation EngineeringUniversity of Electronic Science and Technology of ChinaChendu, SichuanChina
  3. 3.Faculty of AutomationGuangdong University of TechnologyGuangzhou, GuangdongChina

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