Fuzzy singularly perturbed model and stability analysis of bilateral teleoperation system

The bilateral teleoperation system is the system with time delay and force reflection. On-orbit services is a important application of bilateral teleoperation. It stabilization problem must overcome the bilateral time delay in presence of state and control input. This paper propose 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. Secondly, several linearity matrix inequations(LMI) called stabilization theorem are constructed, then, 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.