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Robust adaptive synchronisation of a single-master multi-slave teleoperation system over delayed communication
conference contributionposted on 2019-01-01, 00:00 authored by P M Kebria, Abbas KhosraviAbbas Khosravi, Saeid Nahavandi, F Bello, S Krishnan
© 2019 IEEE. Considering communication delays in networked multi-robot teleoperation systems, this paper proposes a new control strategy for synchronisation and stability purposes. A single-master and multi-slave (SMMS) networked robotic teleoperation system is considered. Based on a sliding surface combined with a smooth filtering and estimation methodology, a robust adaptive control is developed to guarantee the synchronisation and stability of the system in the presence of network-induced time-varying delays. Extensive simulation studies demonstrate the effectiveness of the developed control scheme.