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Stable design of fuzzy controllers for robotic telemanipulation applications

The paper presents a stable design approach for a new class of Takagi-Sugeno PI-fuzzy servo-controllers used in robotic telemanipulation. The approach makes use of the Iterative Feedback Tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach. Emphasis is put on system's behavior with respect to several modifications of the disturbance input specific to virtual environments.