Fault-Tolerant Control of Teleoperation Systems with Flexible-Link Slave Robot and Disturbance Compensation
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RESEARCH PAPER
Fault-Tolerant Control of Teleoperation Systems with Flexible-Link Slave Robot and Disturbance Compensation Padideh Rasouli1 • Ahmad Forouzantabar1
•
Mazda Moattari1 • Mohammad Azadi1
Received: 13 July 2019 / Accepted: 6 January 2020 Ó Shiraz University 2020
Abstract This study addresses the control problem of a teleoperation system with the slave flexible-link in the face of time delay, dynamic uncertainties, disturbances, and actuator faults. In the presence of actuator failures or when unknown disturbances act on the master and slave manipulators, the teleoperation system will be more likely to face the performance degradation and even instability. This paper proposes a simple proportional-derivative controller in conjunction with a disturbance observer and an auxiliary controller. Advantages of the proposed control law include its simple structure and no requirement for fault detection and isolation mechanism; thus, it is appropriate for implementation. Additive appealing features are that the controller can compensate dynamic uncertainties, disturbances, and actuator failures. Using a Lyapunov function, it is demonstrated that all the signals in the closed-loop system are ensured to be ultimately bounded. Simulation results are presented to verify the effectiveness of the proposed controller. Keywords Master and slave system Nonlinear flexible-link slave robot Output redefinition Disturbance observer Actuator fault
1 Introduction For many years, human operators performed the tasks in a remote environment. Many of these tasks were, however, exhausting and even dangerous for humans. Therefore, a large research area is dedicated to the systems called teleoperation systems which broaden the human ability to perform a task in a real or virtual, local or remote environment. Teleoperation systems are generally composed of haptic devices, master robots, remotely located slave robots and communication channels. The slave robot receives the master command to perform a desired task on the environment through the communication channel. To provide a sense of the environment and task execution for the human operator, i.e., to improve the system performance, the slave information is transferred to the operator. If the information signals flow in both directions between master and slave, & Ahmad Forouzantabar [email protected] 1
Department of Electrical Engineering, Marvdash Branch, Islamic Azad University, Marvdasht, Iran
the teleoperation system is said to be controlled bilaterally (Forouzantabar et al. 2012a). Existing some non-idealities such as communication time delays, frictions can degrade the performance and transparency of these systems (Tavakoli et al. 2008). In this context, the stability and transparency of these systems have been extensively studied using for instance passivity condition (Burns et al. 2012; Chen et al. 2018b; Forouzantabar et al. 2012b; Ghorbanian et al. 2013; Janabi-Sharifi and Hassanzadeh 2011; Lee and Spong 2006; Pan et al. 2006), Lyapunov– Krasovskii f
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