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Fuzzy sampled-data control for single-master multi-slave teleoperation systems with stochastic actuator faults

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  • Visakamoorthi, B.
  • Muthukumar, P.

Abstract

This article investigates the sampled-data control design for single-master multi-slave teleoperation systems with stochastic actuator faults and time-varying delays. At first, the nonlinear bilateral teleoperation systems are modeled as Takagi–Sugeno (T–S) fuzzy systems through membership functions. The decentralized sampled-data control technique is proposed with actuator faults occurring in both master and slave robots. Here, the stochastic faults satisfy certain probability conditions and the forward and backward delays between the master and slaves are time-variant and asymmetric. Next, the delay-dependent Lyapunov–Krasovskii functionals (LKFs) are constructed for the proposed fuzzy model to obtain sufficient stability conditions in terms of linear matrix inequality (LMI). Finally, the reliability and superiority of the proposed method are illustrated by numerical results.

Suggested Citation

  • Visakamoorthi, B. & Muthukumar, P., 2022. "Fuzzy sampled-data control for single-master multi-slave teleoperation systems with stochastic actuator faults," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 198(C), pages 375-387.
    • Handle: RePEc:eee:matcom:v:198:y:2022:i:c:p:375-387
    DOI: 10.1016/j.matcom.2022.03.005
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    References listed on IDEAS

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    1. Kumar, S. Vimal & Anthoni, S. Marshal & Raja, R., 2019. "Dissipative analysis for aircraft flight control systems with randomly occurring uncertainties via non-fragile sampled-data control," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 155(C), pages 217-226.
    2. Duan, Wenyong & Li, Yan & Sun, Yi & Chen, Jian & Yang, Xiaodong, 2020. "Enhanced master–slave synchronization criteria for chaotic Lur’e systems based on time-delayed feedback control," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 177(C), pages 276-294.
    3. Senouci, Abdelkader & Boukabou, Abdelkrim, 2014. "Predictive control and synchronization of chaotic and hyperchaotic systems based on a T–S fuzzy model," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 105(C), pages 62-78.
    4. Vimal Kumar, S. & Raja, R. & Marshal Anthoni, S. & Cao, Jinde & Tu, Zhengwen, 2018. "Robust finite-time non-fragile sampled-data control for T-S fuzzy flexible spacecraft model with stochastic actuator faults," Applied Mathematics and Computation, Elsevier, vol. 321(C), pages 483-497.
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    Cited by:

    1. Nguyen, Khanh Hieu & Kim, Sung Hyun, 2024. "Improved stability and stabilization criteria of sampled-data control systems based on an enhanced looped-functional," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 215(C), pages 69-81.

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