Implementation of The Neuro-fuzzy Controller for Delayed Position-Position Teleoperation System Using Arduino Due Board

This paper presents the control of a teleoperation system with transmission delay using an Adaptive Neuro-Fuzzy Controller (ANFIS) implemented on an Arduino Due board. Transmission delay causes instabilities and poor performance, and poses a major problem in controlling teleoperation systems. To solve this problem, we need an appropriate control strategy and an adaptive and robust controller. The ANFIS controllers proposed in this article, are capable of adapting to variations in the parameters of the system to be controlled by automatically modifying the neuro-fuzzy network’s output through the use of a non-linear learning algorithm. These ANFIS controllers are developed in the Matlab/Simulink environment and implemented on a one degree of freedom teleoperation platform using an Arduino Due Board given its advantages in terms of speed and ease of implementation. The experimental results of position tracking demonstrate that the proposed control algorithm delivers better performance than conventional control methods (PID).