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

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.

[1]  Romeo Ortega,et al.  An adaptive controller for nonlinear teleoperators , 2010, Autom..

[2]  Rogelio Lozano,et al.  Synchronization of bilateral teleoperators with time delay , 2008, Autom..

[3]  Mohammad Reza Khalghani,et al.  An optimal and intelligent control strategy for a class of nonlinear systems: adaptive fuzzy sliding mode , 2016 .

[4]  H. Shokri-Ghaleh,et al.  Optimal synchronization of teleoperation systems via cuckoo optimization algorithm , 2014 .

[5]  Jong Hyeon Park,et al.  Sliding-mode controller for bilateral teleoperation with varying time delay , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).

[6]  Alireza Alfi,et al.  A comparison between optimization algorithms applied to synchronization of bilateral teleoperation systems against time delay and modeling uncertainties , 2014, Appl. Soft Comput..

[7]  Guang-Chyan Hwang,et al.  A stability approach to fuzzy control design for nonlinear systems , 1992 .

[8]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[9]  Yana Yang,et al.  Neural network-based adaptive position tracking control for bilateral teleoperation under constant time delay , 2013, Neurocomputing.

[10]  Jean-Jacques E. Slotine,et al.  Stable adaptive teleoperation , 1991 .

[11]  Dongjun Lee,et al.  Passive bilateral teleoperation with constant time delays , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[12]  M.W. Spong,et al.  Adaptive coordination control of bilateral teleoperators with time delay , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[13]  Dongjun Lee,et al.  Passive Bilateral Teleoperation With Constant Time Delay , 2006, IEEE Transactions on Robotics.

[14]  Keum-Shik Hong,et al.  Fuzzy sliding mode control of container cranes , 2015 .

[15]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[16]  Karel Jezernik,et al.  Sliding mode control for scaled bilateral teleoperation , 2011, IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society.

[17]  V. Parra-Vega,et al.  Cartesian sliding PID force/position control for transparent bilateral teleoperation , 2005, 31st Annual Conference of IEEE Industrial Electronics Society, 2005. IECON 2005..