Bilateral Teleoperation of a Formation of Nonholonomic Mobile Robots Under Constant Time Delay

被引：30
|
作者：
Palafox, Oscar M. [1 ]
Spong, Mark W. [2 ]
机构：
[1] Texas A&M Univ, Dept Aerosp Engn, 3141 TAMU, College Stn, TX 77845 USA
[2] Univ Texas Dallas, Coll Engn, Richardson, TX 75083 USA
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
D O I：
10.1109/IROS.2009.5353995
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We applied partial feedback linearization to the unicycle model to stabilize part of the state at a desired position on the plane and extend it to design formation control for teleoperation. Further, using output synchronization results we derive a Single Master Multiple Slave bilateral teleoperation system robust to constant unknown, possible different time delays between master and formation and among mobile robots and formation. We show our simulation's results to illustrate the performance of the derived control law.
引用
收藏
页码：2821 / 2826
页数：6
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