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Robust adaptive synchronisation of a single-master multi-slave teleoperation system over delayed communication
File(s)
Author(s)
Kebria, Parham M
Khosravi, Abbas
Nahavandi, Saeid
Bello, Fernando
Krishnan, Suren
Type
Conference Paper
Abstract
Considering communication delays in networked multi-robot teleoperation systems, this paper proposes a new control strategy for synchronisation and stability purposes. A single-master and multi-slave (SMMS) networked robotic teleoperation system is considered. Based on a sliding surface combined with a smooth filtering and estimation methodology, a robust adaptive control is developed to guarantee the synchronisation and stability of the system in the presence of network-induced time-varying delays. Extensive simulation studies demonstrate the effectiveness of the developed control scheme.
Date Issued
2019-07-04
Date Acceptance
2019-01-01
Citation
2019 IEEE International Conference on Industrial Technology (ICIT), 2019, pp.193-198
URI
DOI
ISSN
2643-2978
Publisher
IEEE
Start Page
193
End Page
198
Journal / Book Title
2019 IEEE International Conference on Industrial Technology (ICIT)
Copyright Statement
© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000490548300029&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Source
IEEE International Conference on Industrial Technology (IEEE ICIT)
Subjects
Science & Technology
Technology
Engineering, Electrical & Electronic
Engineering
Sliding mode
adaptive control
networked systems
teleoperation
time-varying delay
COOPERATIVE TELEOPERATION
BILATERAL TELEOPERATION
MANIPULATORS
OBJECT
Publication Status
Published
Start Date
2019-02-13
Finish Date
2019-02-15
Coverage Spatial
Melbourne, AUSTRALIA