Reliable control for bilateral teleoperation systems with actuator faults using fuzzy disturbance observer

摘要

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.