Fault tolerant control of a bilateral teleoperated micromanipulation system

This paper presents a new architecture of control for microteleoperation system using a fault tolerant control (FTC) strategy to compensate for the degradation effects of microgipping system. The proposed strategy uses passivity approach for the bilateral controller and robust fault tolerant control (FTC) for the two-fingered microgripper system. First, the bilateral controller architecture uses the passivity approach for the teleoperation system in the presence of time delay and scaling factor variations. Second, the FTC controller is designed in such a way that the performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. The slave controller architecture is controlled by the PI controller for a nominal model and the H_infin controller for faulty operation. The simulation and experimental results show clearly the effectiveness of the proposed approach.