Adaptive Type-2 Fuzzy Control Scheme for Robust Teleoperation under Time-Varying Delay and Uncertainties

摘要

This study investigates the stability and performance issues in teleoperation systems due to latency and uncertainties. Interaction with the remote environment introduces unknown forces to the slave system that requires a robust control method for a stable operation. On the other side, network delays dramatically threatens the stability of the teleoperation process. Moreover, uncertainty sources such as human operator and system parameters further decreases the efficiency of the teleoperation task. Therefore, this paper proposes a type-2 fuzzy based adaptive control methodology to deal with the uncertainty concerns in teleoperation systems. First, the considered teleoperation system is expressed by type-2 fuzzy rules. Then, applying Lyapunov-Krasovskii analysis method, an adaptive algorithm is developed for updating the control parameters to guarantee the system performance and stability. Finally, the effectiveness of the proposed adaptive type-2 fuzzy control methodology is experimentally evaluated on a haptic teleoperation setup.