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Adaptive Fuzzy Control for Teleoperation System with Uncertain Kinematics and Dynamics

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  • Control Theory and Applications
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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.

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Authors and Affiliations

  1. School of Computer Engineering, University of Electronic Science and Technology of China, Zhongshan Institute, Zhongshan, Guangdong, 528402, China

    Liang Yang, Kairui Chen & Zixuan Zhang

  2. School of Automation Engineering, University of Electronic Science and Technology of China, Chendu, Sichuan, 611731, China

    Liang Yang & Yong Chen

  3. Faculty of Automation, Guangdong University of Technology, Guangzhou, Guangdong, 510006, China

    Zhi Liu & Kairui Chen

Authors
  1. Liang Yang
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  2. Yong Chen
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  3. Zhi Liu
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  4. Kairui Chen
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  5. Zixuan Zhang
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Corresponding author

Correspondence to Liang Yang.

Additional information

Recommended by Associate Editor Myung Geun Chun under the direction of Editor Fuchun Sun. This work was supported by the National Natural Science Foundation of China (61573108, U1613223, U1501251 and U1613223), the Natural Science Foundation of Guangdong Province (2016A030313715, 2016A030313018), the Fundamental Research Funds for the Central Universities(ZYGX2016J140), the Scientific and Technical Supporting Programs of Sichuan Province(2016GZ0395, 2017GZ0391 and 2017GZ0392).

Liang Yang received his B.S. degree in electronics engineering from Nanchang University, Nanchang, China, in 2002, his M.S. and Ph.D. degrees in school of automation from Guangdong University of Technology, in 2005 and 2016. From 2005 to 2009, he has worked in Huawei Co. as a senior engineer. He is currently an associate professor at the School of Computer Engineering, University of Electronic Science and Technology of China, Zhongshan Institute.

Yong Chen received his Ph.D. degree from Chongqing University, Chongqing, China, in 2007. He is currently a Professor in the school of Automation Engineering, University of Electronic Science and Technology, Chendu, China. His research interests include adaptive control and industrial engineering.

Zhi Liu received his B.S. degree from Huazhong University of Science and Technology, Wuhan, China, in 1997, an M.S. degree from Hunan University, Changsha, China, in 2000, and a Ph.D degree from Tsinghua University, Beijing, China, in 2004, all in electrical engineering. He is currently a Professor in the School of Automation, Guangdong University of Technology, Guangzhou, China.

Kairui Chen received his B.S. degree in network engineering and his M.S. and Ph.D degrees in control science and engineering from Guangdong Univerity of Technology, Guangzhou, China, in 2012, 2014, and 2017, respectively. Currently, he is a postdoctoral with the Faculty of Automation, Guangdong Univerity of Technology, Guangzhou, China.

Zixuan Zhang is currently pursuing a bachelor degree with the school of Computer Engineering, University of Electronic Science and Technology of China, Zhongshan Institute.

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Yang, L., Chen, Y., Liu, Z. et al. Adaptive Fuzzy Control for Teleoperation System with Uncertain Kinematics and Dynamics. Int. J. Control Autom. Syst. 17, 1158–1166 (2019). https://doi.org/10.1007/s12555-017-0631-z

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  • DOI: https://doi.org/10.1007/s12555-017-0631-z

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