An Improved Composite State Convergence Scheme with Disturbance Compensation for Multilateral Teleoperation Systems

Abstract

Composite state convergence is a novel scheme applied for the bilateral control of a telerobotic system. The scheme offers an elegant design procedure and employs only three communication channels to establish synchronization between a single-master and a single-slave robotic system. This paper expands the capability of the composite state convergence scheme to accommodate any number of master and slave systems and proposes a disturbance observer-based composite state convergence architecture where k-master systems can cooperatively control l-slave systems in the presence of uncertainties. A systematic method is presented to compute the control gains while observer gains are determined in a standard way.To validate the proposed architecture, MATLAB simulations are performed on symmetric and asymmetric arrangements of single-degree-of-freedom teleoperation systems. Finally, experimental results are obtained using Quanser's Qube-Servo systems in QUARC/Simulink environment.

Teleoperated Grasping Using Data Gloves Based on Fuzzy Logic Controller

“…Asad et al [18] presented a novel state convergence control algorithm for bilateral tele-operation of robotic systems, emphasizing a model in state space and a design procedure to compute control gains. In 2022, Asad et al [19] proposed an extended composite state convergence scheme for multiprimary, multi-secondary teleoperation systems, incorporating a disturbance observerbased architecture to handle uncertainties. Yang et al [20] introduced a synchronization control algorithm for a networked nonlinear master-slave teleoperation system, addressing operator fatigue in continuous operations.…”