Open AccessReliable control for bilateral teleoperation systems with actuator faults using fuzzy disturbance observer
Author(s) -
Li JianNing,
Li LinSheng
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.1089
Subject(s) - control theory (sociology) , teleoperation , actuator , disturbance (geology) , fuzzy logic , computer science , tracking error , controller (irrigation) , observer (physics) , control engineering , engineering , robot , control (management) , artificial intelligence , agronomy , biology , paleontology , physics , quantum mechanics
In this study, the synchronisation problem of bilateral teleoperation systems with time‐delay and actuator faults is considered. First, the error dynamic system with actuator faults is modelled as a time‐delay system with disturbance, and a fuzzy disturbance observer (FDO) is designed to estimate the unknown non‐linear disturbance. Moreover, an FDO‐based robust controller is provided for the master robot and a reliable controller is designed for the slave robot, respectively. Next, a sufficient condition is given to ensure the tracking error; the disturbance observation error and the parameter error are uniformly ultimate bounded. Finally, a numerical example is shown to illustrate the effectiveness of the proposed method.