Adaptive synchronization control design for flexible telerobotics with actuator fault and input saturation

This paper addresses the synchronization control problem of flexible telerobotics with actuator fault, input saturation, and asymmetrical time‐varying delays. A new adaptive antisaturation nonlinear fractional power proportional+damping fault‐tolerant control scheme is designed. With the new control algorithm, faster convergence rate and higher convergence precision can be guaranteed, as compared with the general proportion+damping control method. By choosing Lyapunov‐Krasovskii functional, it shows that the teleoperation system is stable under specific linear matrix inequality conditions. Thus, the allowable maximal transmission delay can be computed with the given controller‐design parameters. To validate the effectiveness of the proposed method, simulations on synchronization control system composed of 2 manipulators (master is rigid, and slave is flexible) are developed. Experiments on the PHANToM Premium 1.5A manipulators are also conducted and numerous experimental results are presented to show the superior performance of the proposed control scheme.