An Adaptive Fuzzy Observer Based Delay Compensator for Time Delayed Bilateral Teleoperation Systems | IEEE Conference Publication | IEEE Xplore

An Adaptive Fuzzy Observer Based Delay Compensator for Time Delayed Bilateral Teleoperation Systems


Abstract:

This paper presents a novel time delay-compensation method for delayed teleoperation systems based on the concept of network disturbance (ND) and an adaptive fuzzy observ...Show More

Abstract:

This paper presents a novel time delay-compensation method for delayed teleoperation systems based on the concept of network disturbance (ND) and an adaptive fuzzy observer. Firstly, a new adaptive fuzzy observer is developed to estimate the robot states, linearize the robot dynamics as well as eliminate model uncertainty and unknown disturbances. With the linearized robot model, a network disturbance observer is then proposed to estimate the ND by lumping all undesired effects caused by time delay into the ND. Furthermore, the proposed delay compensator is applied to a 4 channel time delayed bilateral control system to deal with the communication delay issue. The effectiveness of the proposed method is demonstrated through experiment study.
Date of Conference: 11-13 December 2021
Date Added to IEEE Xplore: 24 January 2022
ISBN Information:
Conference Location: Krakow, Poland

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