Sliding mode fuzzy rule base bilateral teleoperation control of 2-DOF SCARA system

Arman Nasirian, Mojtaba Ahmadieh Khanesar

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

In the present study, the control of a bilateral teleoperation system using a fuzzy logic system which operates based on the sliding mode control theory has been considered. Because of intrinsic time delay and uncertainties of this system we choose sliding mode control theory as a robust controller to avoid mentioned side effects. Furthermore, the utilization of some fuzzy rules on the sliding manifold helps to overcome chattering problems which may appear in sliding mode control signals. The rule base controller is derived which results in an admissible outcome in the tracking of master by slave, precisely. The proposed approach is simulated on one of the most commonly used types of robots in industry namely SCARA. Moreover, in the free and contact motion, the stability and transparency of bilateral teleoperation system which is of a great significance is guaranteed in the presence of time delay, parameter uncertainties and system disturbances with a high synchronization performance.

Original languageEnglish
Title of host publicationInternational Conference on Automatic Control and Dynamic Optimization Techniques, ICACDOT 2016
Number of pages6
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date13 Mar 2017
Pages7-12
Article number7877542
ISBN (Electronic)9781509020805
DOIs
Publication statusPublished - 13 Mar 2017
Externally publishedYes
Event1st International Conference on Automatic Control and Dynamic Optimization Techniques, ICACDOT 2016 - Pune, India
Duration: 9 Sep 201610 Sep 2016

Conference

Conference1st International Conference on Automatic Control and Dynamic Optimization Techniques, ICACDOT 2016
CountryIndia
CityPune
Period09/09/201610/09/2016
SponsorUniversity of Pune, Savitribai Phule Pune University

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