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This paper presents the design of a fuzzy logic controller for a non-linear tele-robotic system where the slave's environment is unknown. First, the non-linear tele-robotic system is approximated by a class of Takagi-Sugeno (TS) fuzzy models. A fuzzy control law is then adopted to stabilize the tele-robotic system. Further, the selected control law allows deriving the design conditions for determining...
This paper presents the design of a transparent fuzzy bilateral controller for a nonlinear teleoperation system which has been approximated by a class of Takagi-Sugeno (TS) fuzzy models. After the approximation stage, TS fuzzy control laws are introduced for the master and slave robotic systems. These laws further help in developing the design conditions using the state convergence methodology. The...
This paper presents the bilateral control of nonlinear teleoperation system represented by Takago-Sugeno (TS) fuzzy models based upon the state convergence methodology. All features of state convergence method proposed for linear bilateral control including the provision of considering the master and slave systems modeled by nth order differential equations, achieving the desired convergence behavior...
This paper presents an experimental study of a state feedback controller for stabilizing a two wheeled self balancing robot which is constructed from Lego Mindstorms NXT 2.0 kit. A gyro sensor and two wheel encoders help in measuring the robot state. This state information is used by a linear quadratic regulator (LQR) to stabilize the robot. The initial design and validation of LQR controller is carried...
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