Adaptive Task-Space Synchronization Control of SMMS Teleoperaiton Systems with Round-Robin Scheduling Protocol

This paper proposes an adaptive control for nonlinear bilateral teleoperation systems with single master and multiple slaves in the presence of uncertain parameters and variable time delays, and the master-slaves synchronization in the task space is achieved. The Round-Robin scheduling protocol is used to orchestrate the sampled slave signals to the master. The stability criterion of the closed-loop system is given by using LMIs based on Lyapunov-Krasovskii functional synthesis. The simulation is carried out on a single master/three-slaves teleoperation system, and the results show the effectiveness of the proposed controller.

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