Bilateral Teleoperation of Multiple Agents with Formation Control

This paper studies the formation problem for multislave teleoperation system over general communication networks,where multiple mobile slave agents are coupled with a single master robot. The forward and backward network transmission time delays are assumed to be asymmetric and time-varying.Due to t...

Full description

Saved in:
Bibliographic Details
Published in:IEEE/CAA journal of automatica sinica 2014-04, Vol.1 (2), p.141-148
Main Authors: Yan, Jing, Yang, Xian, Chen, Cailian, Luo, Xiaoyuan, Guan, Xinping
Format: Article
Language:English
Subjects:
bilateral teleoperation
Delay effects
Delays
formation
Multi-agent systems
Protocols
Quantization (signal)
robot
Robots
Stability analysis
Citations: Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper studies the formation problem for multislave teleoperation system over general communication networks,where multiple mobile slave agents are coupled with a single master robot. The forward and backward network transmission time delays are assumed to be asymmetric and time-varying.Due to the quantization in the network, a dynamic quantization strategy is provided to quantize the output signals of the master robot and slave agents before transmitting. Then, a novel masterslave protocol is designed to achieve the formation task under variable time delays and quantization. Additionally, the sufficient conditions for stability are presented to show that the formation protocol can stabilize the master-slave system under variable time delays and quantization. Finally, simulation are performed to show effectiveness of the main results.
ISSN:2329-9266
2329-9274
DOI:10.1109/JAS.2014.7004543