Safety-enhanced observer-based adaptive fuzzy synchronization control framework for teleoperation systems

Abstract

Due to the lake of enough information about the remote environment, safety and performance play critical role in the teleoperation systems. However, some applications such as tele-robotic surgery require high performances and the outcomes of delayed leader-follower communication and external forces measurement can be catastrophic in such area. In hence, to guarantee the predefined performances for the synchronization error and enhance the safeness of operation in the presence of system uncertainties, external disturbances and time-varying delay, the error constrained control is employed to the proposed controller design mechanism by the Barrier Lyapunov function (BLF). The key idea of this paper is to develop a new adaptive fuzzy torque observer and relax the system from the practical limitations of force sensors. Moreover, the main contribution of this paper is to deal with time-delay’s derivative of communication channels and lessen the computational complexity in the backstepping-based adaptive controller by means of the dynamic surface control and the BLF strategy is embedded to enforce bounds on the leader-follower position synchronization errors. In addition, the stability analysis of the observer and controller together is studied via the BLF in a unified farmwork. Finally, the evaluation of performance of the proposed observer-based adaptive fuzzy synchronization controller, is investigated by the help of various scenarios and comparison.