Delayed Trilateral Teleoperation of a Mobile Robot. (12th October 2017)

• Record Type: Journal Article
• Authors: Santiago, D.; Slawiñski, E.; Mut, V.
• Other Names: Pekař Libor Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2017(2017)
• Publication Date: 2017-10-12
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2017/6048365
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P + d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.