Bilateral telerobotic system using type-2 fuzzy neural network based moving horizon estimation force observer for enhancement of environmental force compliance and human perception

DOI10.1016/J.AUTOMATICA.2019.04.033MaRDI QIDQ2280787zbMATH OpenOpenAlexWikidataFDO

Authors Da Sun, T. S. Stoyanov, A. P. Kiselev, Amy Loutfi, Qian-Fang Liao

Publication date 19 December 2019

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2019.04.033

zbMATH Keywords

machine visionmoving horizon estimationbilateral teleoperationtype-2 fuzzy neural networkforce estimation and control

Mathematics Subject Classification ID

Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85) Fuzzy control/observation systems (93C42)

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Cites work

• scientific article; zbMATH DE number 3701955 (Why is no real title available?)
• Disturbance estimator as a state observer with extended Kalman filter for robotic manipulator
• Input-to-state stability for discrete-time nonlinear systems
• Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems

Cited in

(7)

• Robust complete synchronization control design for non‐collocated nonlinear master–slave system over delayed communication network
• Adaptive hybrid impedance control for dual-arm cooperative manipulation with object uncertainties
• On the robustness of force estimation methods for robot manipulators: an experimental study
• Safe operation for teleoperated robotic manipulators with restricted synchronization error via non-singular terminal sliding-mode control
• A bilateral teleoperation with interaction force constraint in unknown environment using non linear model predictive control
• Multibody dynamics and control using machine learning
• Global terminal sliding-mode control for the synchronization problem of uncertain bilateral teleoperation system with time-varying delays

Describes a project that uses

Uses Software

• PCL

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