Stability analysis of teleoperation system by state convergence with variable time delay

Design of a Single-Master/Multi-Slave Nonlinear Teleoperation System through State Convergence with Time Varying Delays

“…Remark 2: By setting l as unity in (41), the earlier state convergence based nonlinear bilateral controller [32] becomes a special case of the proposed multilateral controller.…”

“…It was originally proposed for linear systems with small time delay in the communication channel. Later, the applicability of the scheme to nonlinear teleoperation systems suffering from time-varying delays was demonstrated through the use of Lyapunov-Krasovskii functional [32]. In our earlier work, we have employed the state convergence scheme to control a nonlinear teleoperation system which can be approximated by a class of Takagi-Sugeno fuzzy models.…”

“…To the best of authors' knowledge, state convergence based design of SM/MS nonlinear teleoperation system has not been discussed in the literature. Further, the earlier methodology on the control of nonlinear bilateral teleoperation system through state convergence [32] has become a special case of the proposed multilateral controller. To proceed, we first define the control objectives to be the synchronization of master and slave position signals along with the mixed force reflection to the operator from the slave environments.…”

“…To proceed, we first define the control objectives to be the synchronization of master and slave position signals along with the mixed force reflection to the operator from the slave environments. Then, to achieve these objectives, Lyapunov-Krasovskii theory is utilized to design the control gains of the extended state convergence architecture following the lines of [32]. The proposed methodology is finally verified through MATLAB simulations on a 2-DoF single-master/tri-slave nonlinear teleoperation system in the presence of time delays.…”