Fuzzy state convergence based bilateral control of a tele-robotic system in unknown environments

This paper presents the design of a fuzzy logic controller for a non-linear tele-robotic system where the slave's environment is unknown. First, the non-linear tele-robotic system is approximated by a class of Takagi-Sugeno (TS) fuzzy models. A fuzzy control law is then adopted to stabilize the tele-robotic system. Further, the selected control law allows deriving the design conditions for determining the bilateral control gains of the state convergence architecture which has been used in this study as a framework for establishing communication between the master and slave sides. MATLAB simulations on one-degree-of-freedom (DoF) non-linear tele-robotic system are included to prove the validity of the proposed fuzzy bilateral controller.