2016 International Conference on Emerging Technologies (ICET) 2016
DOI: 10.1109/icet.2016.7813242
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Transparent fuzzy bilateral control of a nonlinear teleoperation system through state convergence

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Cited by 6 publications
(6 citation statements)
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“…The beauty of the selected control law lies in its capability to fully utilize the method of state convergence while providing large range operation. In our earlier work, we have proved that this control law can successfully establish the state convergence behavior in a nonlinear teleoperation system [24]- [25]. Following the same lines, we show that the fuzzy transparent bilateral controller can indeed be designed for the transparency optimized state convergence architecture with a nonlinear plant model.…”
Section: Introductionsupporting
confidence: 62%
See 1 more Smart Citation
“…The beauty of the selected control law lies in its capability to fully utilize the method of state convergence while providing large range operation. In our earlier work, we have proved that this control law can successfully establish the state convergence behavior in a nonlinear teleoperation system [24]- [25]. Following the same lines, we show that the fuzzy transparent bilateral controller can indeed be designed for the transparency optimized state convergence architecture with a nonlinear plant model.…”
Section: Introductionsupporting
confidence: 62%
“…The approximation property of these systems is central to the design of bilateral controllers. Another way to use fuzzy logic is model based fuzzy approach which has proved to be an effective tool in the control of nonlinear systems [15]- [22] and its application to bilateral teleoperation systems has also been reported [23]- [25].…”
Section: Introductionmentioning
confidence: 99%
“…In a transparent system, the slave tracks exactly the master, and the operator has a realistic (transparent) perception of the remote environment: the technical system should not be felt by the human (Hirche and Buss, 2007 ). Transparency can be degraded if there are time delays in the communication channel between the user and the remote environment (Lawrence, 1993 ; Hirche and Buss, 2007 ; Farooq et al, 2016 ). More details about transparency modeling for telerobotics can be found in Raju et al ( 1989 ); Lawrence ( 1993 ); Yokokohji and Yoshikawa ( 1994 ); Ferre et al ( 2007 ), and Slawinski et al ( 2012 ).…”
Section: Mechanical Transparencymentioning
confidence: 99%
“…However, time delay appears to be a limiting factor in the complete success of these algorithms. The use of intelligent control techniques such as fuzzy logic [22]- [26] and neural networks [27], [28] has also been investigated. Encouraging results are reported based on the combination of neural networks and passivity algorithms [29], [30].…”
Section: Introductionmentioning
confidence: 99%