Event-Triggered Fault-Tolerant Control for Nonlinear Multilateral Teleoperation System With Unknown Environmental Forces

In this paper, an event-triggered fuzzy adaptive fault-tolerant control scheme is investigated to achieve displacement synchronization and force tracking for nonlinear multilateral teleoperation systems subject to actuator faults and communication network constraints. The time-varying delays and network communication bandwidth limitations are incorporated into the communication network constraints, and the considered nonlinear systems are modeled by using T-S fuzzy system theory. Then, a novel event-triggered fuzzy adaptive fault-tolerant control algorithm is designed to simultaneously estimate and compensate for possible actuator faults during system operation. Next, unlike many existing works, the unknown environmental forces are estimated by introducing radial basis function neural networks, and the estimated results are taken into account in the design of the event-triggered mechanisms. Finally, a numerical simulation example is presented to illustrate the effectiveness of the designed algorithm.