Paper Info
Title
Failure-distribution-dependent H∞ fuzzy fault-tolerant control for multiple-degree-of-freedom nonlinear bilateral teleoperation system
Abstract
In this paper, a novel failure-distribution-dependent H∞ fuzzy fault-tolerant control algorithm is proposed for a type of multiple-degree-of-freedom (MDOF) nonlinear bilateral teleoperation systems with partial actuator failures and time-varying communication delays. At first, the nonlinear systems are modeled as T-S fuzzy systems with multiple time-varying delays. The upper bound and lower bound of the transmission delays are incorporated in the stability analysis. When actuator failures exist in both master and slave robot, based on the characteristic of failures and delays, H∞ fuzzy fault-tolerant controllers are designed by using free-weight matrix approach. After this, a sufficient condition is provided to ensure the mean square stable of the closed-loop system with a disturbance attenuation level γ. Finally, numerical examples are provided to show the effectiveness of the proposed methods.
Year
DOI
Venue
2020
10.1016/j.jfranklin.2020.10.005
Journal of the Franklin Institute
DocType
Volume
Issue
Journal
357
18
ISSN
Citations 
PageRank 
0016-0032
2
0.35
References 
Authors
0
4
Name
Order
Citations
PageRank
Jian-Ning Li1444.74
Ai-Min Wang220.35
Kun-Zhong Miao320.35
Lin-Sheng Li420.35