This study addresses the control problem of a teleoperation system with the slave flexible-link in the face of time delay, dynamic uncertainties, disturbances, and actuator faults. In the presence of actuator failures or when unknown disturbances act on the master and slave manipulators, the teleoperation system will be more likely to face the performance degradation and even instability. This paper proposes a simple proportional-derivative controller in conjunction with a disturbance observer and an auxiliary controller. Advantages of the proposed control law include its simple structure and no requirement for fault detection and isolation mechanism; thus, it is appropriate for implementation. Additive appealing features are that the controller can compensate dynamic uncertainties, disturbances, and actuator failures. Using a Lyapunov function, it is demonstrated that all the signals in the closed-loop system are ensured to be ultimately bounded. Simulation results are presented to verify the effectiveness of the proposed controller.

中文翻译：

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具有柔性链接从属机器人和干扰补偿的遥操作系统容错控制

本研究解决了具有从属柔性链路的遥操作系统在面对时间延迟、动态不确定性、干扰和执行器故障时的控制问题。在存在执行器故障或未知干扰作用于主从机械手时，遥操作系统将更容易面临性能下降甚至不稳定的问题。本文提出了一种简单的比例微分控制器，结合干扰观测器和辅助控制器。所提出的控制律的优点是结构简单，不需要故障检测和隔离机制；因此，它适合于实施。附加吸引人的特点是控制器可以补偿动态不确定性、干扰和执行器故障。使用李雅普诺夫函数，证明了闭环系统中的所有信号都是最终有界的。仿真结果用于验证所提出的控制器的有效性。