Stable design of fuzzy controllers for robotic telemanipulation applications

Radu Emil Precup, Stefan Preitl, Emil M. Petriu, Jozsef K. Tar, Mircea Bogdan Radac, Claudia Adina Dragos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper presents a stable design approach for anew class of Takagi-Sugeno PI-fuzzy servo-controllers used inrobotic telemanipulation. The approach makes use of theIterative Feedback Tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach .Emphasis is put on system's behavior with respect to several modifications of the disturbance input specific to virtua ln environments.

Original languageEnglish
Title of host publication2009 IEEE Workshop on Computational Intelligence in Virtual Environments, CIVE 2009 - Proceedings
Pages1-6
Number of pages6
DOIs
Publication statusPublished - Jul 20 2009
Event2009 IEEE Workshop on Computational Intelligence in Virtual Environments, CIVE 2009 - Nashville, TN, United States
Duration: Mar 30 2009Apr 2 2009

Publication series

Name2009 IEEE Workshop on Computational Intelligence in Virtual Environments, CIVE 2009 - Proceedings

Other

Other2009 IEEE Workshop on Computational Intelligence in Virtual Environments, CIVE 2009
CountryUnited States
CityNashville, TN
Period3/30/094/2/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Science Applications
  • Software

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    Precup, R. E., Preitl, S., Petriu, E. M., Tar, J. K., Radac, M. B., & Dragos, C. A. (2009). Stable design of fuzzy controllers for robotic telemanipulation applications. In 2009 IEEE Workshop on Computational Intelligence in Virtual Environments, CIVE 2009 - Proceedings (pp. 1-6). [4926310] (2009 IEEE Workshop on Computational Intelligence in Virtual Environments, CIVE 2009 - Proceedings). https://doi.org/10.1109/CIVE.2009.4926310