Observer-based fuzzy integral sliding mode control for bilateral teleoperation systems with time-varying delays

K. Janani, R. Baranitha, Chee Peng Lim and R. Rakkiyappan

Mathematics and Computers in Simulation (MATCOM), 2024, vol. 225, issue C, 1154-1169

Abstract: This paper aims to examine the stability and tracking performance of a bilateral teleoperation system. The Takagi–Sugeno fuzzy method is utilized, through which the nonlinear master–slave dynamics is converted as a fuzzy-based system. The state observers are designed for the linearized fuzzy teleoperation systems, and the corresponding estimation errors are formulated. Importantly, a novel observer-based fuzzy integral sliding mode control is developed by deliberately introducing the delay term into the sliding surfaces. As such, advanced delay-product type of Lyapunov–Krasovskii functionals are constructed for the augmented state vectors, in order to acquire the additional delay information. In addition, the Wirtinger-based integral inequality along with an extended reciprocally convex matrix inequality is applied to the Lyapunov derivatives to establish the delay-dependent stability conditions. Numerical results are provided to demonstrate efficacy of the developed control mechanism.

Keywords: Fuzzy integral sliding mode control; Bilateral teleoperation systems; Delay-product type of Lyapunov–Krasovskii functionals; Extended reciprocally convex matrix inequality; Linear matrix inequality (search for similar items in EconPapers)
Date: 2024
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Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:225:y:2024:i:c:p:1154-1169

DOI: 10.1016/j.matcom.2023.11.021

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