Design of Passivity Tele-Operation System Using Fuzzy Wave Variables

In the bilateral tele-operation system, time delay may be a critical problem. Even if system modeling error or time delay occurs, when applied to wave transformation system, the system`s stability can be achieved. Using the characteristic b which is an important parameter of wave transformation, the system can display robust performance for time delay. However, since assuming and that the time delay was fixed developing a theory, a stability cannot be guaranteed about the time-varying delay. Therefore, In the paper, Therefore, in this paper, we studied for the method that controls this by applying the fuzzy algorithm which surveyed the timevarying delay characteristics and can adjust the b according to it adaptively.