Loading [a11y]/accessibility-menu.js
Using neuro-fuzzy control to enhance maneuverability of master-slave system in position feedback frameworks | IEEE Conference Publication | IEEE Xplore

Using neuro-fuzzy control to enhance maneuverability of master-slave system in position feedback frameworks


Abstract:

To enhance the controller performance for the master-slave manipulator system which using a position feedback framework, in this paper, a hybrid adaptive Neuro-Fuzzy Mode...Show More

Abstract:

To enhance the controller performance for the master-slave manipulator system which using a position feedback framework, in this paper, a hybrid adaptive Neuro-Fuzzy Model Reference is proposed. By feeding back the slave's position, the movement at the master may appear ldquosluggishrdquo especially during no-contact operation. The Neuro-Fuzzy control is applied to in position-position and position-position/force bilateral control frameworks in order to improve the maneuverability of master-slave manipulator. In this paper, two types of controllers; conventional P+D and Neuro-Fuzzy controller are investigated to compare. The results show that the hybrid intelligent control can be significantly improving the overall the performance.
Date of Conference: 22-25 February 2009
Date Added to IEEE Xplore: 08 May 2009
ISBN Information:
Conference Location: Bangkok, Thailand

Contact IEEE to Subscribe

References

References is not available for this document.