Adaptive fuzzy control of trilateral tele-operation with communication random delays

In this paper, adaptive fuzzy controls are proposed for hybrid motion/force of trilateral teleoperation system with dual-master-single-slave configuration under stochastic time-varying delays in communication channels. Using partial feedback linearization, the whole trilateral teleoperation system consisting of both the master and the slave is transformed into three subsystems. By integrating Markov jump systems to handle random delays, adaptive fuzzy control strategies are developed for the nonlinear teleoperators with modeling uncertainties and external disturbances by using the approximation property of the fuzzy logic systems. The proposed controls are validated by extensive simulations.