Extended fuzzy logic controller for uncertain teleoperation system

摘要

Teleoperation systems allow a surgeon to perform a remote distance operation with or without magnification. Nonlinearity and unknown dynamics of master and slave robots, in teleoperation systems, make it challenging to guarantee stability and convergence of the position tracking error in such systems. This paper presents an interval Type-2 Fuzzy (T2F) logic controller to control position of a teleoperation system without knowing dynamics of master and slave robots. Interval T2F controller have been recently applied in many engineering fields while understanding the control potentials of interval T2F still have been an open question for researches. The control methodology is baseline optimized Type-1 Fuzzy (T1F) Controllers. Although, the performance of T1F controller, deals with unknown dynamics, is reasonable, but in comparison to interval T2F controller, when uncertainties are increased, it has weaker performance. The performance of the controller has been evaluated on the test — bed consists of two Novint Falcon robots as the master and slave. The experimental results show improved performance of interval T2F controllers in comparison to T1F controllers.