Actuator Fault and Link Failure Accommodation for Disturbed Multi-User Telerehabilitation Systems Subject to Communication Noise
Abbas Tariverdi, Mahdi Pourafzal, Heidar Ali Talebi, Masoud Shafiee · 2019
This paper investigates the Fault Tolerant Control (FTC) for Multi-User Telerehabilitation Systems (MUTSs) which are modelled as Itô stochastic differential equations with the occurrence of actuator loss-of-effectiveness faults, directed link failures, communication noise, and disturbances. Furthermore, an active FTC strategy using an Adaptive Sliding Mode Control (ASMC) method is addressed. By employing such strategy, MUTSs achieve stochastic consensus in the mean square sense onto the predefined stochastic switching sliding surfaces in finite time. Finally, Stochastic Input-to-State Stability (SISS) of the systems' states (positions, velocities, and orientations) will be shown and a numerical simulation will be provided.