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Reliable control for bilateral teleoperation systems with actuator faults using fuzzy disturbance observer.
- Source :
-
IET Control Theory & Applications (Wiley-Blackwell) . Feb2017, Vol. 11 Issue 3, p446-455. 10p. - Publication Year :
- 2017
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 17518644
- Volume :
- 11
- Issue :
- 3
- Database :
- Academic Search Index
- Journal :
- IET Control Theory & Applications (Wiley-Blackwell)
- Publication Type :
- Academic Journal
- Accession number :
- 148080519
- Full Text :
- https://doi.org/10.1049/iet-cta.2016.1089