Title :
Stable design of fuzzy controllers for robotic telemanipulation applications
Author :
Precup, Radu-Emil ; Preitl, Stefan ; Petriu, Emil M. ; Tar, Jozsef K. ; Radac, Mircea-Bogdan ; Dragos, Claudia-Adina
Author_Institution :
Politeh. Univ. of Timisoara, Timisoara
fDate :
March 30 2009-April 2 2009
Abstract :
The paper presents a stable design approach for a new class of Takagi-Sugeno PI-fuzzy servo-controllers used in robotic telemanipulation. The approach makes use of the iterative feedback tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach. Emphasis is put on system´s behavior with respect to several modifications of the disturbance input specific to virtual environments.
Keywords :
PI control; control system synthesis; feedback; fuzzy control; iterative methods; matrix algebra; servomechanisms; telerobotics; Takagi-Sugeno PI servo-controllers; fuzzy controllers design; iterative feedback tuning; matrix space; modal equivalence principle; nonlinearity vectors; robotic telemanipulation applications; Delay effects; Fuzzy control; Iterative methods; Linear feedback control systems; Linear matrix inequalities; Robot control; Stability analysis; Takagi-Sugeno model; Transfer functions; Vectors;
Conference_Titel :
Computational Intelligence in Virtual Environments, 2009. CIVE '09. IEEE Workshop on
Conference_Location :
Nashville, TN
Print_ISBN :
978-1-4244-2772-7
DOI :
10.1109/CIVE.2009.4926310
