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

Author

Listed:
  • Janani, K.
  • Baranitha, R.
  • Lim, Chee Peng
  • Rakkiyappan, R.

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.

Suggested Citation

  • Janani, K. & Baranitha, R. & Lim, Chee Peng & Rakkiyappan, R., 2024. "Observer-based fuzzy integral sliding mode control for bilateral teleoperation systems with time-varying delays," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 225(C), pages 1154-1169.
    • Handle: RePEc:eee:matcom:v:225:y:2024:i:c:p:1154-1169
    DOI: 10.1016/j.matcom.2023.11.021
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    References listed on IDEAS

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    1. Yi Chang & Peng Zhou & Ben Niu & Huanqing Wang & Ning Xu & M. O. Alassafi & A. M. Ahmad, 2021. "Switched-observer-based adaptive output-feedback control design with unknown gain for pure-feedback switched nonlinear systems via average dwell time," International Journal of Systems Science, Taylor & Francis Journals, vol. 52(9), pages 1731-1745, July.
    2. Pal, Pikaso & Mukherjee, V. & Alemayehu, Hinsermu & Jin, Gang Gyoo & Feyisa, Gosa, 2021. "Generalized adaptive backstepping sliding mode control for synchronizing chaotic systems with uncertainties and disturbances," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 190(C), pages 793-807.
    3. 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.
    4. Derakhshannia, Mehran & Moosapour, Seyyed Sajjad, 2022. "Disturbance observer-based sliding mode control for consensus tracking of chaotic nonlinear multi-agent systems," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 194(C), pages 610-628.
    5. Houda, K. & Saifia, D. & Chadli, M. & Labiod, S., 2023. "Unknown input observer based robust control for fuzzy descriptor systems subject to actuator saturation," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 203(C), pages 150-173.
    6. Tranthi, Janejira & Botmart, Thongchai & Weera, Wajaree & La-inchua, Teerapong & Pinjai, Sirada, 2022. "New results on robust exponential stability of Takagi–Sugeno fuzzy for neutral differential systems with mixed time-varying delays," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 201(C), pages 714-738.
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