Adaptive task-space synchronization control of smms teleoperaiton systems with round-robin scheduling protocol

Jing Li; Yuling Li; Yixin Yin; Kun Liu; Sen Zhang

doi:10.23919/ChiCC.2019.8865995

Adaptive task-space synchronization control of smms teleoperaiton systems with round-robin scheduling protocol

Jing Li, Yuling Li^*, Yixin Yin, Kun Liu, Sen Zhang

^*Corresponding author for this work

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 38th Chinese Control Conference, CCC 2019
Editors	Minyue Fu, Jian Sun
Publisher	IEEE Computer Society
Pages	4485-4491
Number of pages	7
ISBN (Electronic)	9789881563972
DOIs	https://doi.org/10.23919/ChiCC.2019.8865995
Publication status	Published - Jul 2019
Event	38th Chinese Control Conference, CCC 2019 - Guangzhou, China Duration: 27 Jul 2019 → 30 Jul 2019

Publication series

Name	Chinese Control Conference, CCC
Volume	2019-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	38th Chinese Control Conference, CCC 2019
Country/Territory	China
City	Guangzhou
Period	27/07/19 → 30/07/19

Keywords

Adaptive control
Bilateral teleoperation
Scheduling protocol
Uncertain parameters
Variable time delays

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10.23919/ChiCC.2019.8865995

Cite this

Li, J., Li, Y., Yin, Y., Liu, K., & Zhang, S. (2019). Adaptive task-space synchronization control of smms teleoperaiton systems with round-robin scheduling protocol. In M. Fu, & J. Sun (Eds.), Proceedings of the 38th Chinese Control Conference, CCC 2019 (pp. 4485-4491). Article 8865995 (Chinese Control Conference, CCC; Vol. 2019-July). IEEE Computer Society. https://doi.org/10.23919/ChiCC.2019.8865995

@inproceedings{ea20d8161bfd41718c94c63d4eff7900,

title = "Adaptive task-space synchronization control of smms teleoperaiton systems with round-robin scheduling protocol",

abstract = "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.",

keywords = "Adaptive control, Bilateral teleoperation, Scheduling protocol, Uncertain parameters, Variable time delays",

author = "Jing Li and Yuling Li and Yixin Yin and Kun Liu and Sen Zhang",

note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",

year = "2019",

month = jul,

doi = "10.23919/ChiCC.2019.8865995",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "4485--4491",

editor = "Minyue Fu and Jian Sun",

booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",

address = "United States",

}

Li, J, Li, Y, Yin, Y, Liu, K & Zhang, S 2019, Adaptive task-space synchronization control of smms teleoperaiton systems with round-robin scheduling protocol. in M Fu & J Sun (eds), Proceedings of the 38th Chinese Control Conference, CCC 2019., 8865995, Chinese Control Conference, CCC, vol. 2019-July, IEEE Computer Society, pp. 4485-4491, 38th Chinese Control Conference, CCC 2019, Guangzhou, China, 27/07/19. https://doi.org/10.23919/ChiCC.2019.8865995

Adaptive task-space synchronization control of smms teleoperaiton systems with round-robin scheduling protocol. / Li, Jing; Li, Yuling; Yin, Yixin et al.
Proceedings of the 38th Chinese Control Conference, CCC 2019. ed. / Minyue Fu; Jian Sun. IEEE Computer Society, 2019. p. 4485-4491 8865995 (Chinese Control Conference, CCC; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive task-space synchronization control of smms teleoperaiton systems with round-robin scheduling protocol

AU - Li, Jing

AU - Li, Yuling

AU - Yin, Yixin

AU - Liu, Kun

AU - Zhang, Sen

PY - 2019/7

Y1 - 2019/7

N2 - 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.

AB - 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.

KW - Adaptive control

KW - Bilateral teleoperation

KW - Scheduling protocol

KW - Uncertain parameters

KW - Variable time delays

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U2 - 10.23919/ChiCC.2019.8865995

DO - 10.23919/ChiCC.2019.8865995

M3 - Conference contribution

AN - SCOPUS:85074398243

T3 - Chinese Control Conference, CCC

SP - 4485

EP - 4491

BT - Proceedings of the 38th Chinese Control Conference, CCC 2019

A2 - Fu, Minyue

A2 - Sun, Jian

PB - IEEE Computer Society

T2 - 38th Chinese Control Conference, CCC 2019

Y2 - 27 July 2019 through 30 July 2019

ER -

Adaptive task-space synchronization control of smms teleoperaiton systems with round-robin scheduling protocol

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