Delayed trilateral teleoperation of a mobile robot (Q1992940)

From MaRDI portal
scientific article
Language Label Description Also known as
English
Delayed trilateral teleoperation of a mobile robot
scientific article

    Statements

    Delayed trilateral teleoperation of a mobile robot (English)
    0 references
    0 references
    0 references
    0 references
    5 November 2018
    0 references
    Summary: This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three \(P + d\) controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.
    0 references

    Identifiers

    0 references
    0 references
    0 references
    0 references
    0 references
    0 references