Adaptive type-2 fuzzy neural-network control for teleoperation systems with delay and uncertainties
Author(s)
Kebria, Parham Mohsenzadeh
Khosravi, Abbas
Nahavandi, Saeid
Wu, Dongrui
Bello, Fernando
Type
Journal Article
Abstract
Interacting with human operators, remote environment, and communication networks, teleoperation systems are considerably suffering from complexities and uncertainties. Managing these is of paramount importance for safe and smooth performance of teleoperation systems. Among the countless solutions developed by researchers, type-2 fuzzy (T2F) algorithms have shown an outstanding performance in modeling complex systems and tackling uncertainties. Moreover, artificial neural networks (NNs) are well known for their adaptive learning potentials. This article proposes an adaptive interval type-2 fuzzy neural-network control scheme for teleoperation systems with time-varying delays and uncertainties. The T2F models are developed based on the experimental data collected from a teleoperation setup over a local computer network. However, the resulted controller is evaluated on an intercontinental communication network through the Internet between Australia and Scotland. Moreover, the slave robot and the remote workspace are completely different and unforeseen. Stability and performance of the proposed control is analyzed by Lyapunov-Krasovskii method. Comprehensive comparative studies demonstrate that the proposed controller outperforms traditional techniques in experimental evaluations.
Date Issued
2020-10-01
Date Acceptance
2019-09-09
Citation
IEEE Transactions on Fuzzy Systems, 2020, 28 (10), pp.2543-2554
ISSN
1063-6706
Publisher
Institute of Electrical and Electronics Engineers
Start Page
2543
End Page
2554
Journal / Book Title
IEEE Transactions on Fuzzy Systems
Volume
28
Issue
10
Copyright Statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000578002800021&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Subjects
Science & Technology
Technology
Computer Science, Artificial Intelligence
Engineering, Electrical & Electronic
Computer Science
Engineering
Uncertainty
Robots
Adaptation models
Delays
Data collection
Adaptive systems
Artificial neural networks
Adaptive control
neural network (NN)
time delay
teleoperation systems
type-2 fuzzy (T2F) models
uncertainties
INTERVAL TYPE-2
LOGIC SYSTEMS
BILATERAL TELEOPERATION
DESIGN
SETS
MANIPULATORS
ROBOT
Publication Status
Published
Date Publish Online
2019-09-12