Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

被引：28
|
作者：
Li, Yuling [1 ,2 ]
Liu, Kun [3 ]
He, Wei [1 ,2 ]
Yin, Yixin [1 ,2 ]
Johansson, Rolf [4 ]
Zhang, Kai [1 ,2 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[2] Univ Sci & Technol Beijing, Key Lab Knowledge Automat Ind Proc, Minist Educ, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[3] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
[4] Lund Univ, Dept Automat Control, S-22100 Lund, Sweden
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2020年 / 28卷 / 05期
基金：
北京市自然科学基金; 中国国家自然科学基金;
关键词：
Protocols; Delays; Manipulators; Scheduling; Communication networks; Stability analysis; Lyapunov-Krasovskii method; robots; sampled-data systems; scheduling communication; teleoperation; time delays; FINITE-TIME CONTROL; MOBILE MANIPULATORS; ADAPTIVE CONTROLLER; CONTROL FRAMEWORK; CONTROL DESIGN; SYSTEMS; STABILIZATION; DELAYS;
D O I：
10.1109/TCST.2019.2923788
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1770 / 1784
页数：15
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