Tracking Performance Evaluations on the Robust Teleoperative Control of Multiple Manipulators

In this paper, a robust non-singular terminal sliding mode (NTSM) method is proposed for a nonlinear single-master-multiple-slave (SMMS) manipulator system, including a bilateral teleoperative subsystem and a leader-following subsystem. The developed NTSM method aims at regulating the motion tracking synchronization considering the network delays, external disturbances, velocity-varying leader, and a weakly connected topology of the leader-following subsystem. In addition, the accuracy and efficiency of the tracking synchronization are evaluated by examining the effects of the control gain selection and assigned reference trajectory, which helps the operator to configure the control system under different conditions. Simulation results are provided to demonstrate the performance as well as the evaluation of the developed techniques.

[1]  Ya-Jun Pan,et al.  Integrated adaptive robust control for multilateral teleoperation systems under arbitrary time delays , 2016 .

[2]  Antonio Franchi,et al.  Bilateral Teleoperation of Groups of Mobile Robots With Time-Varying Topology , 2012, IEEE Transactions on Robotics.

[3]  Jiangping Hu,et al.  Leader-following coordination of multi-agent systems with coupling time delays , 2007, 0705.0401.

[4]  Zhihong Man,et al.  Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems , 2009, IEEE/ASME Transactions on Mechatronics.

[5]  Dusan M. Stipanovic,et al.  Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance , 2010, IEEE Transactions on Control Systems Technology.

[6]  Dennis S. Bernstein,et al.  Finite-Time Stability of Continuous Autonomous Systems , 2000, SIAM J. Control. Optim..

[7]  Xinping Guan,et al.  Consensus of Teleoperating Cyber-Physical System via Centralized and Decentralized Controllers , 2017, IEEE Access.

[8]  Ya-Jun Pan,et al.  A Gain Scheduled Sliding Mode Control Scheme Using Filtering Techniques With Applications to Multilink Robotic Manipulators , 2000 .

[9]  Ya-Jun Pan,et al.  Adaptive robust control for bilateral teleoperated robotic manipulators with arbitrary time delays , 2016, 2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI).

[10]  Satoru Goto,et al.  Trajectory Planning for Industrial Robot Manipulators Considering Assigned Velocity and Allowance Under Joint Acceleration Limit , 2003 .

[11]  Mark W. Spong,et al.  Bilateral teleoperation of a formation of nonholonomic mobile robots under constant time delay , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Kazuhiro Kosuge,et al.  Control of single-master multi-slave manipulator system using VIM , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[13]  Warren E. Dixon,et al.  Synchronization of Uncertain Euler–Lagrange Systems With Uncertain Time-Varying Communication Delays , 2018, IEEE Transactions on Cybernetics.

[14]  Emmanuel Nuño,et al.  Consensus of Euler-Lagrange Systems Using Only Position Measurements , 2018, IEEE Transactions on Control of Network Systems.

[15]  Zhiqiang Gao,et al.  A novel motion control design approach based on active disturbance rejection , 2001 .