A cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays. (October 2019)

• Record Type: Journal Article
• Authors: Zakerimanesh, Amir; Hashemzadeh, Farzad; Torabi, Ali; Tavakoli, Mahdi
• Is Part Of: Mechatronics. Volume 62(2019)
• Publication Date: 2019-10
• Subjects: Cooperative control -- Multilateral teleoperation -- Saturation control -- Task-space synchronization -- Time-varying delay; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2019.102255
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: In this article, a novel multilateral teleoperation structure is presented for cooperative control of a redundant remote robot in the task-space. In the structure, each local robot is assigned a real number between zero and one, as its dominance factor. The sum of all the assigned factors is equal to one, and a greater dominance factor implies that its corresponding operator will have more power in controlling the remote robot. The time-varying delays in the communication channels, the actuators saturation, and the nonlinear dynamics are incorporated into the controller development. Using Barbalat's lemma and a Lyapunov-Krasovskii functional, the asymptotic stability analysis of the closed-loop dynamics are shown, and the performance claims are delivered. Simulation and experimental results are provided to verify the theoretical findings.