his paper proposed a robust control method for a land-based master and an underwater slave robotic manipulator. In order to comprehend the synchronization between the two diverse systems with the existing uncertainties, external disturbances and fully unknown parameters are considered. For a robust position tracking control of the underwater slave manipulator, an adaptive terminal sliding mode ...

I the last several decades, minimally Invasive Surgery (MIS) has changed the traditional approaches surgery procedures dramatically. MIS could decrease suffered pain, shorten recovery time and hospital stays for the patient. Teleoperation can solve many problems encountered in conventional surgery, so it is often used in MIS surgery. Teleoperation system is a kind of semiautonomous system; the ...

The theme of this paper is the design of an intelligent coordinator (IC) of fuzzy controller-agents (FCAs) to control indoor environmental conditions in buildings by using a 3-D fuzzy comfort set. The basic factors that participate in the control of indoor environmental conditions are the controllers and users’ comfort requirements. Harmonization of these factors results in energy saving, and o...

The purpose of designing a controller for a teleoperation system is achieving stability and high efficiency in presence of factors such as time delay, noise, system disturbance and modeling errors. In this article seven new schemes for teleoperation systems is suggested to reduce the error of tracking between the master and the slave systems. In the first and second structures, optimal control ...

A four-channel control architecture has been suggested in the literature to achieve transparency for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixedposition/rate mode. A one-degree-of-freedom example is given t...

Hydraulic machines have been widely used in a variety of high power applications. Typically these machines are operated by an operator. In past research the interaction safety between the operator and the machine was seldom investigated. This dissertation addressess the interaction stability issue by exploiting the safety guarantees offered by passive systems. The hydraulic machine considered i...

This paper investigates the problem of exponential synchronization for a class of master-slave systems with both discrete and distributed time-delays, norm-bounded nonlinear uncertainties and Markovian switching parameters. Using an appropriate Lyapunov-Krasovskii functional, some delay-dependent sufficient conditions and a synchronization law which include the master-slave parameters are estab...

There has been recent interest in novel human-machine collaborative control laws, called “virtual fixtures,” which provide operator assistance for telemanipulation tasks. A forbidden-region virtual fixture is a constraint, implemented in software, that seeks to prevent the slave manipulator of a master/slave telemanipulation system from entering into a forbidden region of the workspace. In this...

Synchronization of N-slave chaotic systems with a master system is challenging task, particularly in recent times. In this paper, novel methodology proposed for synchronizing the N number slave system. The based on coupled adaptive synchronous observers. difference between corresponding states and converged to origin by means feedback control scheme achieve synchronization systems. efficacy ver...