Finite-time fault-tolerant control of teleoperating cyber physical system against faults

This paper studies a finite-time adaptive fractional-order fault-tolerant control (FTC) scheme for the slave position tracking of the teleoperating cyber physical system (TCPS) with external disturbances and actuator faults. Based on the fractional Lyapunov stability theory and the finite-time stability theory, a fractional-order nonsingular fast terminal sliding mode (FO-NFTSM) control law is proposed to promote the tracking and fault tolerance performance of the considered system. Mean-while, the adaptive fractional-order update laws are designed to cope with the unknown upper bounds of the unknown actuator faults and external disturbances. Furthermore, the finite-time stability of the closed-loop system is proved. Finally, comparison simulation results are also provided to show the validity and the advantages of the proposed techniques.