Affiliations: [a] Department of Electrical & Computer Engineering, Dalhousie University, Halifax, N.S., Canada
| [b] Depatrment of Informatics, “Auriel Vlaicu” University of Arad, Arad, Romania
| [c] Intelligent Systems Laboratory and Automation Facility (ISLAF), Lahore, Pakistan | [d] Ocean College, Zhejiang University, Zhejiang, China
| [e] Department of Electrical Engineering, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi Arabia
| [f] Department of Electrical Engineering, The University of Lahore, Lahore, Pakistan
| [g] School of Biomedical Engineering, Shenzhen University, Shenzhen, China
Correspondence:
[*]
Corresponding author. Jason Gu, Department of Electrical & Computer Engineering, Dalhousie University, Halifax, N.S., Canada. E-mail: [email protected].
Abstract: This paper proposes a disturbance observer supported Takagi-Sugeno (TS) fuzzy model-based control scheme for uncertain systems. The baseline controller is a guaranteed performance fuzzy model based parallel distributed controller (PDC) which is constructed using the nominal system’s parameters. The model approximation error and parametric uncertainties are treated as a lumped disturbance and a nonlinear disturbance observer (NDOB) is introduced to counter the lumped disturbance. The applicability of the proposed scheme is demonstrated on the bilateral control of nonlinear teleoperation system in MATLAB/Simulink/QUARC environment through simulations as well as semi-real time experiments.
