Bilateral teleoperation of multiple robots under scheduling communication

Yuling Li, Kun Liu*, Wei He, Yixin Yin, Rolf Johansson, Kai Zhang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)

Abstract

In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the master-slave synchronization, round-robin (RR) scheduling protocol and try-once-discard (TOD) scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays are obtained for the closed-loop teleoperation system under the RR and TOD scheduling protocols, respectively. Finally, simulation studies are given to validate the effectiveness of the proposed results.

Original languageEnglish
Article number8760268
Pages (from-to)1770-1784
Number of pages15
JournalIEEE Transactions on Control Systems Technology
Volume28
Issue number5
DOIs
Publication statusPublished - Sept 2020

Keywords

  • Lyapunov-Krasovskii method
  • robots
  • sampled-data systems
  • scheduling communication
  • teleoperation
  • time delays

Fingerprint

Dive into the research topics of 'Bilateral teleoperation of multiple robots under scheduling communication'. Together they form a unique fingerprint.

Cite this