제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제17권3호
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  • Pages.258-263
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  • 2011
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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퍼지 웨이브 변수를 이용한 수동성 원격 시스템 설계

Design of Passivity Tele-Operation System Using Fuzzy Wave Variables

  • 박범석 (전북대학교 전자정보공학부) ;
  • 유성구 (전북대학교 제어계측공학과) ;
  • 정길도 (전북대학교 전자정보공학부)
  • 투고 : 2010.11.12
  • 심사 : 2010.12.23
  • 발행 : 2011.03.01
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초록

In the bilateral tele-operation system, time delay may be a critical problem. Even if system modeling error or time delay occurs, when applied to wave transformation system, the system's stability can be achieved. Using the characteristic b which is an important parameter of wave transformation, the system can display robust performance for time delay. However, since assuming and that the time delay was fixed developing a theory, a stability cannot be guaranteed about the time-varying delay. Therefore, In the paper, Therefore, in this paper, we studied for the method that controls this by applying the fuzzy algorithm which surveyed the timevarying delay characteristics and can adjust the b according to it adaptively.

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참고문헌

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