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

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.