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• W2079378993 abstract "A bilateral teleoperation controller should make the system stable and achieve optimal performance in the presence of time delays, plant disturbances, measurement noise, modeling errors, and unknown environments. This paper proposes a new method of controller design based on a type-2 fuzzy wavelet neural network structure. A new algorithm based on gradient descent is used. The controller has the advantage of fuzzy controllers and wavelet neural network controllers to allow design of a bilateral teleoperation controller. The salient characteristics of the T2FWNN controller are that the system is constructed on the basis of type-2 membership functions to handle uncertainties associated with information and data in the knowledge base; it can handle unknown environmental interactions; it will remove most noise added to data transmitted through a communication channel. The algorithm of the proposed controller is Lyapunov stable and tracking error is negligible. The proposed controller is compared with a type-1 fuzzy wavelet neural network controller and a conventional fuzzy controller and simulation results show the efficacy of the proposed method." @default.
• W2079378993 created "2016-06-24" @default.
• W2079378993 creator A5007135304 @default.
• W2079378993 creator A5059276409 @default.
• W2079378993 date "2015-08-01" @default.
• W2079378993 modified "2023-09-23" @default.
• W2079378993 title "A Lyapunov stable type-2 fuzzy wavelet network controller design for a bilateral teleoperation system" @default.
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• W2079378993 doi "https://doi.org/10.1016/j.ins.2015.03.036" @default.
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