Using neuro-fuzzy control to enhance maneuverability of master-slave system in position feedback frameworks

Abstract

To enhance the controller performance for the master-slave manipulator system which using a position feedback framework, in this paper, a hybrid adaptive Neuro-Fuzzy Model Reference is proposed. By feeding back the slave's position, the movement at the master may appear “sluggish” especially during no-contact operation. The Neuro-Fuzzy control is applied to in position-position and position-position/force bilateral control frameworks in order to improve the maneuverability of master-slave manipulator. In this paper, two types of controllers; conventional P+D and Neuro-Fuzzy controller are investigated to compare. The results show that the hybrid intelligent control can be significantly improving the overall the performance.