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Type-2 Fuzzy Logic based Time-delayed Shared Control in Online-switching Tele-operated and Autonomous Systems
Örebro University, School of Science and Technology. 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; Department of Biomedical Engineering, National University of Singapore, Singapore.
Department of Biomedical Engineering, National University of Singapore, Singapore.
2018 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 101, p. 138-152Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
Elsevier, 2018. Vol. 101, p. 138-152
Keyword [en]
Online-switching tele-operated and autonomous system, Type-2 T-S Fuzzy System, Time-varying delays
National Category
Robotics
Research subject
Automatic Control
Identifiers
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
Note

Funding Agencies:

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

NUSRI China Jiangsu Provincial Grant  BK20150386  BE2016077 

Available from: 2018-01-24 Created: 2018-01-24 Last updated: 2018-04-09Bibliographically approved

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Sun, Da

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