Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays. (16th November 2015)

• Record Type: Journal Article
• Authors: Sun, Da; Naghdy, Fazel; Du, Haiping
• Other Names: Shen Yajing Academic Editor.
• Is Part Of: Journal of sensors. Volume 2016(2016)
• Publication Date: 2015-11-16
• Subjects: Detectors -- Periodicals; 681.205
• DOI: 10.1155/2016/4316024
• Languages: English
• ISSNs: 1687-725X

Abstract

Abstract : A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system's stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.