Fractional-Order Control for Uncertain Teleoperated Cyber-Physical System with Actuator Fault

This article proposes a quaternary fractional-order sliding mode control with the fuzzy logic system, neural network, and adaptive law for the teleoperated cyber-physical system with model uncertainty, external disturbance, and actuator fault. The uniformly ultimately bounded stability of the closed-loop fractional-order system generated by the proposed sliding surface is guaranteed by Mittag-Leffler stability analysis, and the practically optimal control parameters are determined by the fuzzy logic approximation. The conservative boundary of the actuator partial loss is estimated by the auxiliary system to remove the adverse effect of actuator fault. The adaptive law is designed to estimate the performance degeneration caused by the delay of the cyber channel for gaining the deterministically conservative ultimate boundedness of the reduced-order system with mixed-type errors. To enhance the transparency in the master, the force prediction combines with the fuzzy impedance estimation to rebuild the feedback of the environmental force with an unknown impedance structure. Numerical simulations and experimental results verify the theoretical analyses of the proposed design methodology, and the high-precision tracking and synchronization performance are obtained.