CONFERENCE PROCEEDINGS
Advanced Search
Home > Proceedings > Volume 12344 > Article
Paper
7 October 2022 Hybrid control of force feedback and position feedback for bilateral teleoperation of underwater manipulator
Ni Liu, Yonglin Zhang, Mengyu Wu
Author Affiliations +
Proceedings Volume 12344, International Conference on Intelligent and Human-Computer Interaction Technology (IHCIT 2022); 1234408 (2022) https://doi.org/10.1117/12.2655284
Event: International Conference on Intelligent and Human-Computer Interaction Technology (IHCIT 2022), 2022, Zhuhai, China
Abstract
Aiming at the problems of external disturbance such as underwater ocean current and joint friction of master-slave manipulator in underwater teleoperation system, the bilateral control algorithm of master-slave manipulator was optimized under the hybrid control structure of force feedback and position feedback. In order to track the interaction force between the master manipulator and the slave manipulator, the grey predictive fuzzy control with error compensation is used to adjust the force feedback error, and it is mixed with the traditional PID control to achieve better control effect. In order to track the position of the master for the slave manipulator, a fuzzy adaptive system that based on the traditional sliding mode control, is used to adjust the switching gain. Estimate the upper bound of the external interference, and a robust term is designed to suppress the error estimation. The stability and convergence of the optimized system are proved by Lyapunov stability theory. Comparative simulation experiments on MATLAB/Simulink platform were carried out to verify the effectiveness of the optimization algorithm.
© (2022) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
Ni Liu, Yonglin Zhang, and Mengyu Wu "Hybrid control of force feedback and position feedback for bilateral teleoperation of underwater manipulator", Proc. SPIE 12344, International Conference on Intelligent and Human-Computer Interaction Technology (IHCIT 2022), 1234408 (7 October 2022); https://doi.org/10.1117/12.2655284
ACCESS THE FULL ARTICLE
ORGANIZATIONAL
Sign in with credentials provided by your organization.
INSTITUTIONAL
Select your institution to access the SPIE Digital Library.
SELECT YOUR INSTITUTION
PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
PERSONAL SIGN IN
No SPIE Account? Create one
PURCHASE THIS CONTENT
SUBSCRIBE TO DIGITAL LIBRARY
50 downloads per 1-year subscription
Members: $195
Non-members: $335 ADD TO CART
25 downloads per 1 - year subscription
Members: $145
Non-members: $250 ADD TO CART
PURCHASE SINGLE ARTICLE
Includes PDF, HTML & Video, when available
Members: $17.00
Non-members: $21.00 ADD TO CART
PROCEEDINGS
 6 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
GET CITATION
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Control systems
Fuzzy systems
Feedback control
Fuzzy logic
Detection and tracking algorithms
Telecommunications
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top