Cooperation control for SMMS teleoperation systems with the Round-Robin protocol

This paper considers a class of multilateral teleoperation system consisting of a single master manipulator which is operated by a human operator and multiple slave manipulators cooperatively grasping a common constrained object. Considering the network bandwidth constraints, the Round-Robin scheduling protocol is used to orchestrate the sampled slave signals to the master, and adaptive controllers for the teleoperation system are proposed in the presence of uncertain parameters, time delays, and communication bandwidth limitations. The stability of the closed-loop is established by using linear matrix inequalities. It is demonstrated that velocities and position error between the master manipulator end-effector and the object asymptotically converge to zero. Finally, simulation studies are given to demonstrate the effectiveness of the proposed approach.