Received: 6 March 2022 Revised: 14 July 2022 Accepted: 26 October 2022 IET Control Theory & Applications

DOI: 10.1049/cth2.12407

ORIGINAL RESEARCH

Design of robust adaptive fuzzy control for uncertain bilateral

teleoperation systems based on backstepping approach
Yassine Bouteraa1,2 Khalid A. Alattas3 Tongrui Peng4 Afef Fekih5
Reza Rahmani6 Saleh Mobayen6

1
Department of Computer Engineering, College of Abstract
Computer Engineering and Sciences, Prince Sattam
In this study, a novel method based on a robust adaptive fuzzy control approach is devel-
bin Abdulaziz University, Al-Kharj, Saudi Arabia
2
oped for nonlinear teleoperation systems. Its main objectives are to ensure system stability
Control and Energy Management Laboratory
(CEM Lab), Ecole Nationale d Ingenieurs de Sfax
and properly mitigating parametric uncertainties stemming from external disturbances and
(ENIS), Institut Superieur de Biotechnologie de Sfax un-modelled dynamics. For the communication channel, instead of the direct transmission
(ISBS), University of Sfax, Sfax, Tunisia of environmental torque signals, the approximated environmental parameters by the fuzzy
3
Department of Computer Science and Artificial system are transmitted to the master side for the prediction of environmental torque, thus
Intelligence, College of Computer Science and successfully avoiding the transmission of the power signals in the delayed communication
Engineering, University of Jeddah, Jeddah, Saudi
Arabia channel and solving the passivity problem in the teleoperation system. Besides, a trajec-
4
tory generator is employed in the master side, whereas a trajectory smoothing is provided
College of Science, Shanghai Institute of
Technology, Shanghai, China in the slave side. Theoretically, it was proven that both position tracking and force feed-
5
Department of Electrical and Computer
back problems are attained. Using Lyapunov stability analysis, this work illustrates that the
Engineering, University of Louisiana at Lafayette, robust adaptive fuzzy controller based on the backstepping approach guarantees the sys-
Lafayette, Louisiana, USA tem’s asymptotic stability. Simulation results confirm the efficiency of the suggested control
6
Graduate School of Intelligent Data Science, technique in achieving the stability and tracking objectives of the uncertain nonlinear
National Yunlin University of Science and teleoperation system.
Technology, Douliou, Yunlin, Taiwan

Correspondence
Saleh Mobayen, Graduate School of Intelligent Data
Science, National Yunlin University of Science and
Technology, 123 University Road, Section 3,
Douliou, Yunlin 640301, Taiwan.
Email: [email protected]

1 INTRODUCTION external disturbances, time delays and environmental factors as

well as ensuring stability [16–18]. The reason behind such time
Due to their extensive application in systems implementing con- delay is the communication channel between the master and
trol without any human interference remotely, and especially slave systems which communicates the information between the
because of their role in doing dangerous and difficult tasks, agents with some delays [9, 19]. In teleoperation systems, if the
teleoperation systems have gained significance in today’s life commands (including force or movement) are communicated in
[1–5]. To mention, some of the applications of these systems are a one-way manner from the master to the slave, the resulting sys-
remote surgery, space exploration, nuclear plants, submarines tem is called one-way or unilateral. Furthermore, if the response
and medical simulations. Nonetheless, teleoperation systems for the environmental force is communicated from the slave to
possess some limitations as well [6–10]. Among these limita- the master as well, the teleoperation system is called two-way or
tions are the existence of delays which have motivated extensive symmetric [20].
research in this field [11–13]. Those delays are the leading One of the main challenges in using teleoperation systems is
causes for system instability [14, 15]. The main purpose behind overcoming the unknown perturbations in the so-called system
these explorations is the design of control approaches capable which appear in the form of un-modelled dynamics and external
of achieving optimized performance of these systems against disturbances [21, 22]. The latter makes system operation very

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© 2023 The Authors. IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

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BOUTERAA ET AL. 801

difficult, deteriorate the performance of the feedback-based in the presence of environmental forces a challenging prob-
control function and can even lead to instability [23, 24]. Due lem. In [45], a variable structure control approach based on
to their ability to stabilize structured and unstructured uncertain the neural network and optimized fractional-order selection
systems, fuzzy control and neural network approaches are con- law has been suggested for the sensor-less tele-robotic system
sidered as powerful instruments for the control of the robotic in the presence of uncertain time-delays, model uncertainties,
systems [25–29]. In [11], an adaptive controller is introduced fractional calculus numerical approximation bias, and external
which is capable of synchronization in the presence of dynamic disturbances. According to the integer-order calculus based on
uncertainties without the appearance of any delay in infor- the definition of Caputo and comparison principle, the Rie-
mation from the communication channel. The fuzzy control mann Liouville uniformly-ultimately-bounded (UUB) stability
approach in [30] has been proposed to ensure the sustainabil- is presented in order to synthesize the SMC technique with
ity of non-linear systems; however, these designs have mostly varying order. Combined with the mixed-type error, the pro-
focused on mobile robots and rarely addressed delayed non- posed hybrid integer and fractional-order analysis techniques
linear teleoperation systems. The teleoperation systems with are able to guarantee the Riemann–Liouville-based UUB sta-
constant known delays have been studied in [31, 32]. The bility of tracking errors in the presence of time delays. Based
time delays of these systems are practically variable. Actually, on the Euler difference, the recommended synthesis technique
the major object of teleoperation systems is to achieve robust suppresses the combined boundedness error of approximating
stability on the work environment [33, 34]. Because of some double Euler difference errors.
inherent fundamental problems of these systems, achieving Many of the previous approaches applied for master-slave
this aim seems to be complex. One of the reasons mentioned robot control are mainly based on robust adaptive fuzzy control
for such problems is the delay in the master-slave communi- of teleoperation systems [50]. Due to the simplicity of teleopera-
cation channel. This factor even results in instability of the tion systems’ dynamic equations, controlling master-slave robot
control system [35–37]. Another method for counteracting the control will be complex accordingly [51]. Besides, the use of pas-
inherent delay in such systems is the use of Smith’s estimator sivity conditions [52] in proving controllers’ stability will result
configuration [38]. In [39], the system has become stable by in some limitations.
removing delays from equation components by means of the The most important challenge in the bilateral teleoperation
Smith estimator. Anyway, there is no exact model for such non- systems is to achieve the operator’s true sense of the envi-
linear systems; however, this kind of modelling is not much ronment and guarantee the stability of the system. Until now,
reliable because of system non-linearities. The kind of system various approaches have been developed to design such systems
examined in [40] is non-linear with variable delays and sys- in which the passivity condition for environmental forces and
tem stability was examined through passivity condition and operators have been used to prove the stability of the Lyapunov
Lyapunov–Krasovskii function. Though some attempts have function. These conditions can impose serious restrictions,
been made to find a bound for the time delay, one of the weak- especially in the field of medical applications on teleoperation
nesses of this method, however, lies in the use of passivity systems. The existence of time-varying delay in the master-slave
condition which has been considered as a system limitation in communication channel and also uncertainties (external dis-
[41]. Accordingly, none of these resources have investigated the turbances and un-modelled dynamics), which sometimes may
issue of model uncertainty. destabilize the control system, are important factors and under-
Because of lengthy information communication, the inher- lie in attracting researchers’ attention. Considering the above
ent time delay within the communication channel is negligible challenges and the previous literature, a robust backstepping
[42, 43]. Master-slave synchronization [44] and stability analy- fuzzy adaptive controller for the control of uncertain non-linear
sis of the teleoperation systems under various time delays such bilateral teleoperation system in the presence of time delay and
as constant delay [11], time-variable delays [45, 46] and random parametric uncertainty. The main contributions of this paper are
delays [47] are considered as interesting topics in the field of threefold:
teleoperation systems. In [48], a delay compensator has been
proposed for teleoperation systems in the presence of feed- ∙ Introduction of a robustifying term to overcome external
back forces for control of the workspace framework. Since the disturbances and fuzzy approximation errors.
exact measurement of both kinematic and dynamic parameters ∙ A design that successfully avoids the transmission of
is considered to be a difficult task, multiple control algorithms the power signals in the delayed communication chan-
have been proposed to counteract these two difficulties. By nel and solves the passivity problem in the teleoperation
combining the adaptive and robust control techniques, the sys- system.
tem will have the advantages of both types of controllers. The ∙ A design that successfully alleviates the limitations stemming
robust adaptive control technique is useful for tracking control from the passivity problem.
of robots with unstructured dynamics. However, the control
approach is accompanied by a high computational load [49]. The remainder of the paper is structured as follows. Section 2
Another non-linear control method is the backstepping con- elaborates upon the research hypotheses and lemmas. Section 3
trol approach. Contrary to sliding mode control (SMC), it is details the proposed control approach and provides the stability
not required for the equations to be in the portable form in analysis. The simulation results are given in Section 4. Finally,
the backstepping control [1]; thus, making the robot control some conclusions are provided in Section 5.
802 BOUTERAA ET AL.

2 PROBLEM DESCRIPTION AND environmental forces. In this method, the bound for all
NECESSARY CONCEPTS uncertainties will be approximated using an adaptive rule.
The teleoperation system’s model will be as follows:
In order to design the proposed control approach, the following ( ) ( ) ( )
properties and lemmas are considered: Mm qm q̈ m + Cm qm , q̇ m q̇ m + gm qm = 𝜏m + Dm + 𝜏h
( ) ( ) ( )
Property 1. [53]: The mass inertia matrices Mm and Ms are symmetric Ms qs q̈ s + Cs qs , q̇ s q̇ s + gs qs = 𝜏s + Ds − 𝜏e (2)
positive-definite and the upper and lower bounds are defined as 0 < 𝜇m I ≤
Mm ≤ 𝜇M I and 0 < 𝜇s I ≤ Ms ≤ 𝜇S I , where 𝜇S and 𝜇m are constant such that m and s indices are master and slave robots, corre-
scalar. spondingly, qm and qs are joints’ location vectors, q̇ m and q̇ s are
joints; speed vectors, Mm (qm ) and Ms (qs ) are definite positive
Property 2. [54]: The Coriolis matrices have the following features: inertia matrices, Cm (qm , q̇ m ) and Cs (qs , q̇ s ) are Coriolis torques,
(1) The dynamic equation of the Coriolis inertia matrices gm (qm ) and gs (qs ) are gravity torques, 𝜏h and 𝜏e are human and
is considered as Ṁ i (q, q)
̇ = Ci (q, q)
̇ + CiT (q, q),̇ ∀q, q̇ ∈ Rn×1 environment torques, and finally 𝜏m and 𝜏s are control signals of
(i = m, s), where Ci is Coriolis inertia matrix. torque material. Besides, Dm and Ds are the total time-varying
(2) The conditions q̇ mT (Ṁ m − 2Cm )q̇ m = 0 and values related to un-modelled dynamics and external distur-
T ̇
q̇ s (Ms − 2Cs )q̇ s = 0 are satisfied, where the asymmetric bance. Considering the order of the teleoperation system model
property of the master-slave system (Ṁ i − 2Ci = 0) is obtained. discussed above, the following two systems can be considered
for error dynamics:
Lemma 1. [55]: For any continuous function f(x), there is a fuzzy
system as 𝜃T 𝜁(x) which holds sup | f (x) − 𝜃T 𝜁(x)| ≤ w, ∀w > Zm1 = qm − qS (t − Ts (t ))
x∈Ω
0, where 𝜃T 𝜁(x) will be defined in the following. Zs1 = qs − qm (t − Tm (t )) (3)

Note 1: The planning mechanism is based on the backstep-

ping approach; accordingly, 𝛼m and 𝛼s are recommended as the Zm2 = q̇ m − 𝛼m1
virtual inputs for the teleoperation system in the first step and Zs2 = q̇ s − 𝛼s1 (4)
𝜏m and 𝜏s final control rules are obtained based on the Lyapunov
theory in the second step. Because the teleoperation system is such that 𝛼m1 and 𝛼s1 are considered as virtual inputs. Lyapunov
second-order, both systems can be written as follows: function of the first stage will be defined as follows:

ẋ 1 = x2 1 T 1
V1 = Zm1 Zm1 + Zs1T Zs1 (5)
2 2
ẋ 2 = Mi−1 (−Ci x2 − gi + 𝜏i + Di + 𝜏ext ) (1)
where the time-derivative of V1 can be computed as:
where x1 = qi and x2 = q̇ i (i = m, s). Considering the above V̇ 1 = Zm1
T ̇
Zm1 + Zs1T Ż s1
state space, backstepping control is planned in two stages which ( ( ) )
require the recommendation of primary Lyapunov function = Zm1
T
q̇ m − 1 − Ṫ s (t ) q̇ s (t − Ts (t ))
(first stage) and final Lyapunov function (second stage). ( ( ) )
Note 2: To approximate the indefinite terms, fuzzy approx- + Z T q̇ s − 1 − Ṫ m (t ) q̇ m (t − Tm (t ))
s1 (6)
imator is used which is based on the single point fuzzification,
product inference machine, and centric mean defuzzification. It is noteworthy that in the communication channel, the delay
Note 3: In this study, the robustifying term has been used to term and its derivative are bounded; that is, Tm (t ) ≤ d1 , Ts (t ) ≤
overcome external disturbances and fuzzy approximation error, d2 , Ṫ m (t ) ≤ 𝜇1 ≤ 1 and Ṫ s (t ) ≤ 𝜇2 ≤ 1; where d1 and d2 are pos-
which is considered as one of the strengths of work in the field itive scalar values. Now, by substituting the time derivative of
of teleoperation systems. Equation (4) into (6), the following equation can be obtained:
( ( ) )
V̇ 1 = Zm1T
Zm2 + 𝛼m1 − 1 − Ṫ s (t ) q̇ s (t − Ts (t ))
3 RECOMMENDED CONTROL ( ( ) )
METHOD + Zs1T Zs2 + 𝛼s1 − 1 − Ṫ m (t ) q̇ m (t − Tm (t )) (7)

It should be noted that the derivative of delays should still be

In this approach, the torque obtained from the environ-
less than 1, which can be concluded by Equation (7).
ment will be approximated using an adaptive fuzzy control
The virtual inputs are recommended using a back-stepping
approach; however, if the force measurement sensor will be
algorithm as follows:
robust enough, we can obtain the environment’s torque with-
out using sensor’s fuzzy approximation. Generally, removal of ( )
𝛼m1 = −Km1 Zm1 + 1 − Ṫ s (t ) q̇ s (t − Ts (t ))
the sensor not only results in a reduction of expenses but also
( )
will be a good solution to test sensors applied for measuring 𝛼s1 = −Ks1 Zs1 + 1 − Ṫ m (t ) q̇ m (t − Tm (t )) (8)
BOUTERAA ET AL. 803

where Km1 and Ks1 are positive constant values. Then, by sub- equation can be re-written as:
stituting Equation (8) into (7), the following equation is found:
V̇ 2 = −Zm1
T
Km1 Zm1 − Zs1T Ks1 Zs1 + Zm1
T
Zm2 + Zs1T Zs2
( ( ) ( )
V̇ 1 = −Zm1
T
Km1 Zm1 − Zs1T Ks1 Zs1 + Zm1
T
Zm2 + Zs1T Zs2 (9) + Zm2
T
− Cm qm , q̇ m q̇ m − gm qm + 𝜏m + Dm
) ( ( ) ( )
On the other hand, based on Equation (5), we have: + 𝜏h − Mm 𝛼̇ m1 + Zs2T − Cs qs , q̇ s q̇ s − gs qs
( )( ( ) ( ) ) )
q̈ m = Mm−1 qm −Cm qm , q̇ m q̇ m − gm qm + 𝜏m + Dm + 𝜏h + 𝜏s + Ds + 𝜏e − Ms 𝛼̇ s1 + Zm2 T
Cm Zm2 + Zs2T Cs Zs2
( )( ( ) ( ) ) + 𝜃̃mT Γ−1 ̃̇ ̃ T −1 ̃̇ ̃ T −1 ̃̇
m 𝜃 m + 𝜃s Γ s 𝜃 s + 𝜃e Γ e 𝜃 e
q̈ s = Ms−1 qs −Cs qs , q̇ s q̇ s − gs qs + 𝜏s + Ds + 𝜏e (10)
+ 𝛿̃mT 𝜇m−1 𝛿̃̇ m + 𝛿̃sT 𝜇s−1 𝛿̃̇ s (16)
The error dynamics derivatives in the second design step will
be obtained as follows:
On the other hand, Equation (16) can be expressed as:
( )( ( ) ( )
Ż m2 = q̈ m − 𝛼̇ m1 = Mm−1 qm −Cm qm , q̇ m q̇ m gm qm
V̇ 2 = −Zm1
T
Km1 Zm1 − Zs1T Ks1 Zs1 + Zm1
T
Zm2 + Zs1T Zs2
+ 𝜏m + Dm + 𝜏h ) − 𝛼̇ m1 (11) ( ( )
+ Zm2
T
− Cm q̇ mCm Zm2 − gm qm + 𝜏m + Dm + 𝜏h
( )( ( ) ( ) ) ( ( )
Ż s2 = q̈ s − 𝛼̇ s1 = Ms−1 qs −Cs qs , q̇ s q̇ s − gs qs − Mm 𝛼̇ m1 + Zs2T − Cs q̇ s + Cs q̇ s + Cs Zs2 − gs qs + 𝜏s
+ 𝜏s + Ds + 𝜏e ) − 𝛼̇ s1 (12) )
+ Ds + 𝜏e − Ms 𝛼̇ s1 + 𝜃̃mT Γ−1 ̃̇ ̃ T −1 ̃̇ ̃ T −1 ̃̇
m 𝜃 m + 𝜃s Γ s 𝜃 s + 𝜃e Γ e 𝜃 e
The system’s final Lyapunov function will be recommended
as + 𝛿̃mT 𝜇m−1 𝜃̃̇ m + 𝛿̃sT 𝜇s−1 𝜃̃̇ s (17)

1 T 1 1
V2 = V1 + Zm2 Mm Zm2 + Zs2T Ms Zs2 + 𝜃̃mT Γ−1 ̃
m 𝜃m
Considering Equation (4), the −Ci q̇ i + Ci Zi2 = −Ci 𝛼i1
2 2 2 holds. On the other hand, the following expressions will be
1 1 ̃ T −1 ̃ 1 ̃ T −1 ̃ 1 ̃ T −1 ̃ considered as an indefinite part to be approximated by the fuzzy.
+ 𝜃̃sT Γ−1 ̃
s 𝜃s + 𝜃e Γe 𝜃e + 𝛿m 𝜇m 𝛿m + 𝛿s 𝜇s 𝛿s
2 2 2 2
(13) −Cm 𝛼m1 − gm − Mm 𝛼̇ m1 = 𝜙m = 𝜃mT 𝜁m − Cs 𝛼s1 − gs − Ms 𝛼̇ s1

= 𝜙s = 𝜃sT 𝜁s (18)
where 𝜇m , Γe , Γs , Γm and 𝜇s are adjustment parameters. Besides,
we have:
Generally, the if-so fuzzy rules describing output behaviour
𝜃̃i = 𝜃i∗ − 𝜃̂i , (i = m, s ) can be written as:

𝛿̃i = 𝛿i∗ − 𝛿̂i Rd ∶ IF x1 is Ad1 and ldots xn is Adn Then y = ȳ d (19)

𝜃̃e = 𝜃e∗ − 𝜃̂e (14) where Ad1 is the fuzzy set, ȳ d is a constant value, and d =
1, … , M is the number of fuzzy rules, x(1, 2, … , n) and y are
where 𝜃̃i , 𝜃̃e and 𝛿̃i are master, slave, environment, and indef- inputs and outputs of the fuzzy system, respectively. Therefore,
inite bound parameters’ approximation errors. Finally, the the output of the fuzzy system can be defined as (20):
derivative of the system’s final Lyapunov function are obtained
as: ∑M [∏ ]
n
d =1 𝜃d w=1 𝜇Adw
(xw )
V̇ 2 = −Zm1
T
Km1 Zm1 − Zs1T Ks1 Zs1 + Zm1
T
Zm2 + Zs1T Zs2 y (xw ) = ∑ [∏ ] = 𝜁 (xw ) 𝜃T (20)
M n
w=1 𝜇Adw
d =1
(xw )
1 T ̇ 1
+ Zm2
T
Mm Ż m2 + Zs2T Ms Ż s2 + Zm2 Mm Zm2 + Zs2T Ṁ s Zs2
2 2 T
where ` = [̄y1 , … , ȳd ] is the vector for output fuzzy member-
+ 𝜃̃mT Γ−1 ̃̇ ̃ T −1 ̃̇ ̃ T −1 ̃̇ ̃ T −1 ̃̇ ship function centers with input membership function of 𝜇Adw .
m 𝜃 m + 𝜃s Γ s 𝜃 s + 𝜃e Γ e 𝜃 e + 𝛿 m 𝜇m 𝛿 m
Besides, vector 𝜁(xw ) can be defined as Equation (21).
+ 𝛿̃sT 𝜇s−1 𝛿̃̇ s (15) ∏n
w=1 𝜇Adw
(xw )
Considering the asymmetric property (Ṁ − 2C = 0) of the 𝜁d (xw ) = ∑ [∏ ] (21)
M n
robot and substituting Equations (11) and (12), the above d =1 𝜇 d (
w=1 Aw w x )
804 BOUTERAA ET AL.

Considering Note 2, the corresponding fuzzy system for The following equation can be obtained:
master and slave robot can be written as:
∑M [∏ ] 𝜙 j − 𝜙̂ j = 𝜙̂ j (X |𝜃∗j ) − 𝜙̂ j + 𝜔 j = 𝜃̃ Tj 𝜁 j + 𝜔 j , ( j = m, s, e)
n
d =1 𝜃 ikd 𝜇 d
w=1 Aiw
( x iw )
𝜙ik (xiw ) = ∑ [∏ ] = 𝜁kT (xiw ) 𝜃ik (22) (32)
M n
w=1 𝜇Ad xiw
d =1
( )
iw Therefore, Equation (30) is rewritten in the following
where = 1, 2, … u, u is the degree of freedom for master and form:
slave robot (i = m, s). then,
V̇ 2 = −Zm1
T
Km1 Zm1 − Zs1T Ks1 Zs1 − Zm2
T
Km2 Zm2 − Zs2T Ks2 Zs2
[ T
𝜙i = 𝜙i1 𝜙i2 ⋯ 𝜙iu ] = 𝜁 T (xiw ) 𝜃i (23) T ̃T
+ Zm2 𝜃m 𝜁m + Zm2
T
(𝜔m + Dm − urm ) + Zs2T 𝜃̃sT 𝜁s
then,
+ Zs2T (𝜔s + 𝜔e + Ds − urm ) + Zs2T 𝜃̃eT 𝜁e + 𝜃̃mT Γ−1 ̃̇
m 𝜃m
[ ]
𝜁T (xiw ) = dig 𝜁1T (xiw )𝜁2T (xiw ) ⋯ 𝜁uT (xiw ) ,
[ + 𝜃̃sT Γ−1 ̃̇ ̃ T −1 ̃̇ ̃ T −1 ̃̇ ̃ T −1 ̃̇
s 𝜃 s + 𝜃e Γe 𝜃 e + 𝛿m 𝜇m 𝛿 m + 𝛿s 𝜇s 𝛿 s (33)
T
𝜃i = 𝜃i1 𝜃i2 … 𝜃iu ] (24)
It is noteworthy that uncertainties bound will be considered
Optimized parameters can be defined as (l = m, s, e): as |𝜔m + Dm |max = 𝛿m∗ and |𝜔s + 𝜔e + Ds |max = 𝛿s∗ , where the
adaptive rules are recommended by this way:
𝜃l∗ = arg min𝜃l 𝜖Ω [supx(lw) 𝜖Rn |𝜁 T (xiw )𝜃l∗ − 𝜁 T (xiw )𝜃l |] (25)

Within the convex range of: 𝜃̂̇ m = Γm Zm2

T
𝜁m

Ω = {𝜃 ∶ m ≤ 𝜃 ≤ m}
−
̄ (26) 𝜃̂̇ s = Γs Zs2T 𝜁s

𝜃̂̇ e = Γe Zs2T 𝜁e
where m and m are design parameters. If the control signals will
(34)
be recommended as follows:
where the environment’s fuzzy regressors are considered as
𝜏m = −Km2 Zm2 − Zm1 − 𝜏h − 𝜙̂ m − urm
𝜁e ∝ (Zs1 , Zs2 , Zm1 , Zm2 ). By employing the adaptive laws (34)
𝜏s = −Ks2 Zs2 − Zs1 − 𝜏̂ e − 𝜙̂ s − urs (27) and control torques (27), all signals of the master side and the
slave of the bilateral teleoperation system are guaranteed to be
such that uri is the robustifying term of the master-slave control bounded and the tracking errors Zm and Zs converge to zero
signals and 𝜙̂ i is an approximation of 𝜙i . The control signal of as t → ∞, which can be small by reducing the values of the
the modeled environment using fuzzy logic can be obtained as fuzzy approximation error and the upper bound of exterior
follows [1–5]: disturbances.
Thus, by substituting Equation (34) into (33) and by
𝜏e = 𝜁 T (xew ) 𝜃e (28) considering the uncertainties bound, we have:
where 𝜃e is the unknown environmental parameter and 𝜏e is the V̇ 2 ≤ −Zm1
T
Km1 Zm1 − Zs1T Ks1 Zs1 − Zm2
T
Km2 Zm2 − Zs2T Ks2 Zs2
output of the fuzzy system. Besides, xew (qs , q̇ s , q̈ s ) is considered
T ̃ T ̂
as the input for the fuzzy system. Because of the inherent delay + Zm2 𝛿m + Zm2 𝛿m − Zm2
T
urm + Zs2T 𝛿̃s + Zs2T 𝛿̂s
within the communication channel, the environment estimator
in the master side can be defined as [1–5]: − Zs2T urs + 𝛿̃mT 𝜇m−1 𝛿̃̇ m + 𝛿̃sT 𝜇s−1 𝛿̃̇ s (35)

𝜏̂ e = 𝜁 T (xemw ) 𝜃e∗ (t − T (t )) (29) Besides, if robustifying terms are recommended as follows:

𝛿̃̇ m = 𝜇m Zm2 → urm = 𝛿̂m Zm2

By substituting Equations (18) and (27) into (17), we have:

V̇ 2 = −Zm1
T
Km1 Zm1 − Zs1T Ks1 Zs1 − Zm2
T
Km2 Zm2 − Zs2T Ks2 Zs2
𝛿̃̇ s = 𝜇s Zs2 → urs = 𝛿̂s Zs2 (36)
+ T
Zm2 (𝜙m − 𝜃̂m ) + Zm2
T
(Dm − urm ) + Zs2T (𝜙s − 𝜃̂s )
then, we will have:
.
+ Zs2T (Ds − urs ) + Zs2T (𝜏e − 𝜏̂ e ) + 𝜃̃mT Γ−1 ̃
m 𝜃m V̇ 2 ≤ −Zm1
T
Km1 Zm1 − Zs1T Ks1 Zs1 − Zm2
T
Km2 Zm2 − Zs2T Ks2 Zs2
. . . .
+ 𝜃̃sT Γ−1 ̃ ̃ T −1 ̃ ̃ T −1 ̃ ̃ T −1 ̃ ≤0 (37)
s 𝜃 s + 𝜃e Γe 𝜃 e + 𝛿m 𝜇m 𝛿 m + 𝛿s 𝜇s 𝛿 s (30)

If we consider fuzzy approximation error as this: Thus, the master-slave tracking error will asymptotically con-
verge to zero and the stability of the control system will be
𝜔i = 𝜙i − 𝜙̂ i (X |𝜃i∗ ) (31) ensured. It is noteworthy that the recommended method does
BOUTERAA ET AL. 805

FIGURE 1 Block diagram of the recommended control plan

I = m, s:

[ ]
Mi11(qi ) Mi12(qi )
Mi(qi ) =
Mi21(qi ) Mi22(qi )
[ ]
Ci11(qi ,q̇ i ) Ci12(qi ,q̇ i )
Ci(qi ,q̇ i ) =
Ci21(qi ,q̇ i ) Ci22(qi ,q̇ i )
[ ]
gi1
gi = (38)
gi2

With Mi11(qi ) = li22 mi12 + li12 Mi + 2li1 li2 mi2 ci2 , Mi22(qi ) = li22 mi2 ,
Mi12(qi ) = Mi21(qi ) = li22 mi2 + li1 li2 mi2 ci2 , Ci11(qi ,q̇ i ) = −li1 li2 mi2
FIGURE 2 Two-link robot manipulator
si2 q̇ i2 , Ci12(qi ,q̇ i ) = −li1 li2 mi2 si2 (q̇ i1 + q̇ i2 ), Ci21(qi ,q̇ i ) =
li1 li2 mi2 si2 q̇ i1 , Ci22(qi ,q̇ i ) = 0, gi1 (qi ) = gli2 mi2 ci12 + li1 Mi ci1 ,
gi2 (qi ) = gli2 mi2 ci12 , where mik and lik are the mass and length
not apply passivity condition to prove its stability and is consid- of kth link of the robot respectively (k ∈ {1, 2}). The Mi =
ered as a powerful method in non-linear teleoperation systems. mi1 + mi2 expression is the sum of all robot links, ci12 ′ ci2 ′ ci1 and
The block diagram of the recommended control method is si2 are the abbreviations for cos(qi1 + qi2 ), cos(qi2 ), cos(qi1 ) and
illustrated in Figure 1. sin(qi2 ), respectively. The initially given gravitational accelera-
tion to the controllers has been considered as equal to gi = 9.81
for both master and slave sides. The robot, controller and time
4 SIMULATION RESULTS delay parameters are illustrated in Table 1. The recommended
human-based controller in Figure 3 is applied to the master
In order to evaluate the performance of the proposed approach, robot along y vertical axis. However, because of using torque
two examples of two and three link robot manipulator are equations in dynamical model of the system, the human force
considered. should be transformed into torque forces: 𝜏h = JmT × [0 1] × Fh .
Case 1: Two-link robot manipulator It is noteworthy that any of the fuzzy inputs used in this sim-
For simulation, two robots with two links with round joints ulation is based on the membership functions presented by
(Figure 2) in master and slave sides which have been modelled in Mamdani fuzzy system of Figure 4. The following three mem-
Equation (2) are used [56]. Ci, Mi and gi matrices are as follows bership functions have been considered for the fuzzy system
806 BOUTERAA ET AL.

TABLE 1 Constant parameters of teleoperation system

Parameters Values Parameters Values

Length of links l1i = 0.7 m Robustifying parameters 𝜇s = 0.2

l2i = 0.5 m 𝜇m = 0.2
Mass of links m2m = 10 kg Time-varying values Dm = Ds = [0.1 0.1]
m1m = 5 kg
Initial conditions qi (0) = q̇ (0) = q̈ (0) = 0 Delay on master robot dm (t ) = 0.2 × sin(t )
Control gains Km1 = 0.02 Environment parameters Γe = 0.1
Γs = 0.5
Km2 = 0.2 Γm = 0.1
Ks1 = 50
Ks2 = 80
Delay on slave robot ds (t ) = 0.2sin(t )

FIGURE 5 Approximation of qm1 location using qs1

FIGURE 3 Human resources

where l = 1, 2, 3, cl = {1, 2, 3} and 𝜎l = 0.3. mi and mi param-
eters have been considered as great during the simulation.
Furthermore, in this section, a 15 N force is applied from the
environment to the slave robot along y-axis which will apply a
torque of 𝜏e = JsT × 15 × [0 1] on the slave robot.
The recommended controller’s performance under the
applied force is illustrated in Figures 5 through 8. It should
be noted that the error values are in terms of percentage
(%). In this section, the simulation outcomes for the adaptive
fuzzy controller based on the backstepping approach for the
two-way non-linear teleoperation system have been presented.
Also, a comparison has been made between this recommended
approach and the reference method [1]. To evaluate the location
tracking for the master and slave robots’ joints as well as their
tracking errors, the simulation of this paper has been assumed to
be the same in Figures 5–8 for any of the master joints’ locations
FIGURE 4 Fuzzy membership functions
and has been implemented in reference method [1]. Figures 5
and 6 illustrate the location tracking of the first and second
joints of the slave robots respectively using the recommended
(i = m, s, e): and reference method [1] in comparison to the master robot.
As it is evident, the tracking performance of the recom-
( ) mended method outperforms that of the reference method
2
𝜇liw = exp −0.5((xiw + cl ) ∕𝜎l ) (39) [1]. Figures 7 and 8 include the tracking error of both
BOUTERAA ET AL. 807

FIGURE 6 Approximation of qm2 location using qs2

FIGURE 8 Location approximation error (%) of qm2 using qs2 (with an
obstacle)

FIGURE 7 Location approximation error (%) of qm1 using qs1 (with an

obstacle)

methods, with the recommended method having a lower track- FIGURE 9 Human-environment torques
ing error rate. Figure 9 explains that the environmental torque
has been applied on the slave robot just in the opposite direction
of human torque; however, tracking (as it has been discussed
earlier) has been done well. These results illustrate the proper
performance of the proposed control approach.
Furthermore, generally in comparison with the reference
method [1], the three following points are drawn:
(a) In the recommended plan, proof of stability can be done
simultaneously for the teleoperation system; while, in reference
[1], the stability analysis is done on a separate basis for both
master and slave robots.
(b) In the recommended approach, the fuzzy approximation
error is considered and the robustifying term is in charge of its
elimination; however, in the reference given, the approximation
error is neglected.
(c) The time delay in this plan is time-variable; however, the
delay has been considered as constant in the reference approach.
Case 2: Three-link robot manipulator
A three-link planar robot manipulator is illustrated in
Figure 10, with link lengths denoted by L1 , L2 and L3 , respec-
tively. The parameters of the planar articulated three-link robot
manipulator considered for simulation are shown in Table 2. FIGURE 10 Three-link robot manipulator with passive second joint [51]
808 BOUTERAA ET AL.

TABLE 2 The parameters of three-link robot manipulator

Parameters Values Parameters Values

Length of links l1i = 0.3 m, l2i = 0.3 m, l3i = 0.3 m Robustifying parameters 𝜇s = 0.2, 𝜇m = 0.2
Mass of links m1m = 1 kg, m2m = 1 kg, m3m = 1 kg Time-varying values Dm = Ds = [0.1 0.1]
Initial conditions 0 Delay on master robot dm (t ) = 0.2 × sin(t )
Control gains Km1 = 0.02, Km2 = 0.2, Ks1 = 50, Ks2 = 80 Environment parameters Γe = 0.1, Γs = 0.5, Γm = 0.1
Delay on slave robot ds (t ) = 0.2sin(t )

FIGURE 11 The movement of active joint 1 towards its desired value

The desired configuration of the system should become: (Ms (qs ) + ΔMs (qs ))̈qs + (Cs (qs , q̇ s ) + ΔCs (qs , q̇ s ))̈qs
q1 = 3 rad, q1 = 1.16 rad, q1 = 6 rad. It can be observed from
Figure 11 that the active joint 1 is capable of reaching its desired
positions in 15 ms. Moreover, the passive joint 2 reaches its + gs (qs ) = 𝜏s + Ds − 𝜏e (40)
desired position in 17 ms, before getting locked as demonstrated
in Figure 12. The active joint 3 reaches the desired position in In order to evaluate the performance of the controller in the
20 ms, as displayed in Figure 13. presence of external disturbances and parametric uncertainties
As can be seen from Figures 13 through 15, by applying vari- in the system, these perturbations have been considered in this
able inputs to the mechanical arm system of the two-axis robot section. The amplitude of the error increases to a maximum of
modelled in this research, the outputs of the system converge to 0.1% following the occurrence of uncertainty in the system but
their permanent value after a number of oscillations. Figure 14 quickly settles to zero due to the ability of the control system
shows the control efforts applied by the controller to stabilize to mitigate system uncertainties and disturbances. The position
the output variables of the mechanical arm system of the robot. error in tracking the reference path in the presence of uncer-
Figure 15 shows the dynamics of the tracking position error in tainties is shown in Figure 15. Note from the dynamics of the
the presence of uncertainties. position error that the proposed controller is quite successful at
The dynamic equations of the robot in the presence of eliminating the external disturbances and parameter uncertain-
parametric uncertainties are written as follows: ties. In order to further validate the performance of the control
approach, we compared the results obtained in this study with
those obtained when implementing the approach proposed in
(Mm (qm ) + ΔMm (qm ))̈qm + (Cm (qm , q̇ m ) + ΔCm (qm , q̇ m ))q̇ m [51]. The position control of the mechanical arm of the three-
link robot using the proposed controller and the controller in
+ gm (qm ) = 𝜏m + Dm + 𝜏h [51] is highlighted in Figure 16.
BOUTERAA ET AL. 809

FIGURE 12 The movement of passive joint 2 towards its desired value

FIGURE 13 The movement of active joint 3 towards its desired value

810 BOUTERAA ET AL.

FIGURE 14 Torque control signal of the robot

mechanical arm
BOUTERAA ET AL. 811

FIGURE 15 Tracking position error in the presence of

uncertainties

FIGURE 16 Variable position control of the mechanical arm

of a three-link robot using the proposed method and the controller
proposed in [51]
812 BOUTERAA ET AL.

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