Delayed Trilateral Teleoperation of a Mobile Robot

D. Santiago, E. Slawiñski and V. Mut

Mathematical Problems in Engineering, 2017, vol. 2017, 1-12

Abstract:

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 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.

Date: 2017
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6048365

DOI: 10.1155/2017/6048365

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