Fuzzy sliding mode control design for bilateral teleoperation system

Chia Wen Chang; Cheng Yuan Yang; Chin Wang Tao; Tsu Tian Lee

doi:10.23919/SICE.2017.8105498

Fuzzy sliding mode control design for bilateral teleoperation system

Chia Wen Chang^*
, Cheng Yuan Yang
, Chin Wang Tao
, Tsu Tian Lee

^*此作品的通信作者

Ming Chuan University
Ilan University
Tamkang University

研究成果: 圖書/報告稿件的類型 › 會議稿件 › 同行評審

2 引文斯高帕斯（Scopus）

摘要

A fuzzy sliding-mode teleoperation controller for master-slave robotic systems (MSRSs) is presented in this paper. To deal with the problem of the unknown but bounded uncertainties with MSRS, the adaptive laws is designed into the control process. Moreover, the master-slave system under time delay is considered in this paper. Two simulations are given to validate the effectiveness of the provided controller.

原文	英語
主出版物標題	2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
發行者	Institute of Electrical and Electronics Engineers Inc.
頁面	549-552
頁數	4
ISBN（電子）	9784907764579
DOIs	https://doi.org/10.23919/SICE.2017.8105498
出版狀態	已出版 - 10 11 2017
對外發佈	是
事件	56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, 日本持續時間: 19 09 2017 → 22 09 2017

出版系列

名字	2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
卷	2017-November

Conference

Conference	56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
國家/地區	日本
城市	Kanazawa
期間	19/09/17 → 22/09/17

文獻附註

Publisher Copyright:
© 2017 SICE.

存取文件

10.23919/SICE.2017.8105498

其它文件與鏈接

Link to publication in Scopus

引用此

Chang, C. W., Yang, C. Y., Tao, C. W., & Lee, T. T. (2017). Fuzzy sliding mode control design for bilateral teleoperation system. 於 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 (頁 549-552). (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017; 卷 2017-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2017.8105498

Chang, Chia Wen ; Yang, Cheng Yuan ; Tao, Chin Wang 等. / Fuzzy sliding mode control design for bilateral teleoperation system. 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 頁 549-552 (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017).

@inproceedings{27beed029fba44de9d22d50760b35f53,

title = "Fuzzy sliding mode control design for bilateral teleoperation system",

abstract = "A fuzzy sliding-mode teleoperation controller for master-slave robotic systems (MSRSs) is presented in this paper. To deal with the problem of the unknown but bounded uncertainties with MSRS, the adaptive laws is designed into the control process. Moreover, the master-slave system under time delay is considered in this paper. Two simulations are given to validate the effectiveness of the provided controller.",

keywords = "fuzzy sliding-mode control, master-slave system, time delays",

author = "Chang, \{Chia Wen\} and Yang, \{Cheng Yuan\} and Tao, \{Chin Wang\} and Lee, \{Tsu Tian\}",

note = "Publisher Copyright: {\textcopyright} 2017 SICE.; 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 ; Conference date: 19-09-2017 Through 22-09-2017",

year = "2017",

month = nov,

day = "10",

doi = "10.23919/SICE.2017.8105498",

language = "英语",

series = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "549--552",

booktitle = "2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017",

address = "美国",

}

Chang, CW, Yang, CY, Tao, CW & Lee, TT 2017, Fuzzy sliding mode control design for bilateral teleoperation system. 於 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017, 卷 2017-November, Institute of Electrical and Electronics Engineers Inc., 頁 549-552, 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017, Kanazawa, 日本, 19/09/17. https://doi.org/10.23919/SICE.2017.8105498

Fuzzy sliding mode control design for bilateral teleoperation system. / Chang, Chia Wen; Yang, Cheng Yuan; Tao, Chin Wang 等.
2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 549-552 (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017; 卷 2017-November).

研究成果: 圖書/報告稿件的類型 › 會議稿件 › 同行評審

TY - GEN

T1 - Fuzzy sliding mode control design for bilateral teleoperation system

AU - Chang, Chia Wen

AU - Yang, Cheng Yuan

AU - Tao, Chin Wang

AU - Lee, Tsu Tian

PY - 2017/11/10

Y1 - 2017/11/10

N2 - A fuzzy sliding-mode teleoperation controller for master-slave robotic systems (MSRSs) is presented in this paper. To deal with the problem of the unknown but bounded uncertainties with MSRS, the adaptive laws is designed into the control process. Moreover, the master-slave system under time delay is considered in this paper. Two simulations are given to validate the effectiveness of the provided controller.

AB - A fuzzy sliding-mode teleoperation controller for master-slave robotic systems (MSRSs) is presented in this paper. To deal with the problem of the unknown but bounded uncertainties with MSRS, the adaptive laws is designed into the control process. Moreover, the master-slave system under time delay is considered in this paper. Two simulations are given to validate the effectiveness of the provided controller.

KW - fuzzy sliding-mode control

KW - master-slave system

KW - time delays

UR - https://www.scopus.com/pages/publications/85044250231

U2 - 10.23919/SICE.2017.8105498

DO - 10.23919/SICE.2017.8105498

M3 - 会议稿件

AN - SCOPUS:85044250231

T3 - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

SP - 549

EP - 552

BT - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017

Y2 - 19 September 2017 through 22 September 2017

ER -

Chang CW, Yang CY, Tao CW, Lee TT. Fuzzy sliding mode control design for bilateral teleoperation system. 於 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 549-552. (2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017). doi: 10.23919/SICE.2017.8105498

Fuzzy sliding mode control design for bilateral teleoperation system

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