Failure-Distribution-Dependent H∞ Fuzzy Fault-Tolerant Control for Nonlinear Multilateral Teleoperation System with Communication Delays

In practice, the time-varying communication delays and actuator failures are the main inevitable issues in nonlinear multilateral teleoperation systems, which can reduce the performance and stability of the considered systems. This article proposed a novel failure-distribution-dependent H∞ fuzzy fau...

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Veröffentlicht in:Electronics (Basel) Jg. 13; H. 17; S. 3454
Hauptverfasser: Han, Antai, Yang, Qiyao, Chen, Yangjie, Li, Jianning
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Basel MDPI AG 01.09.2024
Schlagworte:
Actuator failure
Algorithms
Communication
Communications systems
Control algorithms
Control systems
Control theory
Design
Failure
Fault tolerance
Force distribution
Fuzzy control
Fuzzy sets
Fuzzy systems
H-infinity control
Nonlinear control
Nonlinear systems
Random variables
Robot control
Robots
Robust control
Teleoperators
Time synchronization
Time varying control
Tracking
ISSN:2079-9292, 2079-9292
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Zusammenfassung:In practice, the time-varying communication delays and actuator failures are the main inevitable issues in nonlinear multilateral teleoperation systems, which can reduce the performance and stability of the considered systems. This article proposed a novel failure-distribution-dependent H∞ fuzzy fault-tolerant control scheme to realize position synchronization and force tracking simultaneously for multilateral teleoperation systems. Firstly, the nonlinear multilateral systems were modeled as a kind of T-S fuzzy systems with multiple time-varying delays. Then, based on the distribution characteristic of failures, by introducing a series of tradeoff coefficients, a novel failure-distribution-dependent fault-tolerant control algorithm was provided to ensure force tracking in spite of failures, and the purpose of position synchronization was achieved (not only the master and slave robot position synchronization but also the position synchronization between each slave robot). Finally, a numerical simulation example was given to show the effectiveness of the proposed method.
Bibliographie:ObjectType-Article-1
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ISSN:2079-9292
2079-9292
DOI:10.3390/electronics13173454