Abstract
This paper presents a fuzzy logic design of a tele-control electrical vehicle system. We showed that the application of fuzzy logic control allows the stability of tele-vehicle system in spite of communication delays between the operator and the vehicle. A robust bilateral controller design using fuzzy logic frameworks was proposed. This approach allows a convenient means to trade off robustness and stability for a pre-specified time- delay margin. Both the performance and robustness of the proposed method were demonstrated by simulation results for a constant time delay between the operator and the electrical vehicle system.
Highlights
Tele-control vehicles play an important role, especially in hazardous environments such as with the inspection of underwater structures [1], demining [2] and cleaning nuclear plants [3]
The problem considered in this paper is the design of, a bilateral controller for an electric vehicle tele-control system based on the fuzzy logic approach
To illustrate the behaviour of the tele-control system and in order to confirm the findings of the previous section, the bilateral controller K was designed using the Fuzzy Logic Toolbox from MATLAB
Summary
Tele-control vehicles play an important role, especially in hazardous environments such as with the inspection of underwater structures [1], demining [2] and cleaning nuclear plants [3]. During the past two decades, the bulk of the work in vehicle tele-control has focused on ratecontrolled systems for hazardous environments. In these systems, a trained operator controls the vehicle’s rotation and translation speed via hand-controllers and receives feedback from video cameras. With a tele-control system, the information flow between the electrical vehicle and its operator significantly affects the operator's dexterousness and efficiency. The two major issues with tele-control electrical vehicles are stability – and robustness - and transparency performance
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
