Quantized feedback fault-tolerant control of teleoperated robot systems subject to actuator degradation
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    Abstract:

    This paper mainly discusses the robust quantized feedback tolerant-fault control design for teleoperated robotic systems.The teleoperated robot systems are obstructed by problems of actuator degradation,control input quantization,and quantized sensitivity parameter mismatch on the coder and decoder side.The construction of the controller includes two parts:the linear part is established via linear matrix inequality(LMI) for indexed performance problem,and the nonlinear part is designed to deal with quantized parameter mismatch issue.It shows that the proposed robust quantized feedback fault-tolerant control law can effectively eliminate the effects of actuator degradation and quantized parameter mismatch,and ensure the trajectory tracking from slaver robot to master robot asymptotically.Finally,the validity of the theoretical result is verified via simulation.

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ZHENG Bochao, FU Xiyu, YANG Xin, KAN Yajin. Quantized feedback fault-tolerant control of teleoperated robot systems subject to actuator degradation[J]. Journal of Nanjing University of Information Science & Technology,2016,8(6):499-504

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History
  • Received:January 10,2016
  • Online: December 14,2016
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