oru.sePublikationer
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Type-2 Fuzzy Logic based Time-delayed Shared Control in Online-switching Tele-operated and Autonomous Systems
Örebro universitet, Institutionen för naturvetenskap och teknik. Department of Biomedical Engineering, National University of, Singapore, Singapore. (Center of Apllied Autonomous Sensor System)ORCID-id: 0000-0002-0334-2554
Research & Development Center, Nidec Singapore Pte Ltd, Singapore, Singapore; Department of Biomedical Engineering, National University of ,Singapore, Singapore.ORCID-id: 0000-0001-8119-0843
2018 (Engelska)Ingår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 101, s. 138-152Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

This paper develops a novel shared control scheme for online-switching tele-operated and autonomous system with time-varying delays. Type-2 Takagi-Sugeno (T-S) fuzzy model is used to describe the dynamics of master and slave robots in this system. A novel non-singular fast terminal siding mode (NFTSM)-based algorithm combined with an extended wave-based time domain passivity approach (TDPA) is presented to enhance the master-slave motion synchronization in the tele-operated mode and reference-slave motion synchronization in the autonomous mode, while simultaneously ensuring the stability of the overall system in the presence of arbitrary time delays. In addition, based on the Type-2 Fuzzy model, a new torque observer is designed to estimate the external torques and then the torque tracking method is employed in the control laws to let the slave apply the designated force to further improve the operator’s force perception for the environment. The stability of the closed-loop system is proven using the Lyapunov-Krasovskii functions. Finally, experiments using two haptic devices prove the superiority of the proposed strategy.

Ort, förlag, år, upplaga, sidor
Elsevier, 2018. Vol. 101, s. 138-152
Nyckelord [en]
Online-switching tele-operated and autonomous system, Type-2 T-S Fuzzy System, Time-varying delays
Nationell ämneskategori
Robotteknik och automation
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:oru:diva-64475DOI: 10.1016/j.robot.2017.12.010ISI: 000428009100011Scopus ID: 2-s2.0-85042604222OAI: oai:DiVA.org:oru-64475DiVA, id: diva2:1177010
Anmärkning

Funding Agencies:

Office of Naval Research Global grant  ONRG-NICOP-N62909-15-1-2029 

NUSRI China Jiangsu Provincial Grant  BK20150386  BE2016077 

Tillgänglig från: 2018-01-24 Skapad: 2018-01-24 Senast uppdaterad: 2020-03-10Bibliografiskt granskad

Open Access i DiVA

Type-2 Fuzzy Logic based Time-delayed Shared Control in Online-switching Tele-operated and Autonomous Systems(1536 kB)19 nedladdningar
Filinformation
Filnamn FULLTEXT02.pdfFilstorlek 1536 kBChecksumma SHA-512
7d467d3834c1a103ae75bb630a557ca8bc969bd4c212196b04ec8a73687e4e5917044a9d0744f339f5225ad5f4a7caab88279f69c92dade40f434b67997f2cad
Typ fulltextMimetyp application/pdf

Övriga länkar

Förlagets fulltextScopus

Personposter BETA

Sun, DaLiao, Qianfang

Sök vidare i DiVA

Av författaren/redaktören
Sun, DaLiao, Qianfang
Av organisationen
Institutionen för naturvetenskap och teknik
I samma tidskrift
Robotics and Autonomous Systems
Robotteknik och automation

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 19 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

doi
urn-nbn

Altmetricpoäng

doi
urn-nbn
Totalt: 262 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf