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Bilateral control of teleoperation system with fuzzy singularly perturbed model

For bilateral teleoperation system, the performance of trajectory tracking and force feedback is not ensured due to delay introduced by the communication channel. This paper proposed a novel stabilization control method based on fuzzy singularly perturbed model of bilateral teleoperation. Firstly, system equations are transformed into state space expression of errors dynamic and built the singularly perturbed model of bilateral teleoperation. Then, the stabilization theorem are constructed based on several linearity matrix inequations. Thirdly, fuzzy state feedback controller are designed. Finally, Lyaponov function method is used to prove the stabilization theorem. Experimental results show that our approach is valid and has encouraging stabilization performance.