Bilateral teleoperation of a formation of nonholonomic mobile robots under constant time delay

Author

Palafox, Oscar M. ; Spong, Mark W.

Author_Institution

Dept. of Aerosp. Eng., Texas A&M Univ., College Station, TX, USA

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

2821

Lastpage

2826

Abstract

We applied partial feedback linearization to the unicycle model to stabilize part of the state at a desired position on the plane and extend it to design formation control for teleoperation. Further, using output synchronization results we derive a Single Master Multiple Slave bilateral teleoperation system robust to constant unknown, possible different time delays between master and formation and among mobile robots and formation. We show our simulation´s results to illustrate the performance of the derived control law.

Keywords

delays; feedback; linearisation techniques; mobile robots; robust control; synchronisation; telerobotics; constant time delay; design formation control; nonholonomic mobile robots; output synchronization; partial feedback linearization; single master multiple slave bilateral teleoperation system; time delays; unicycle model; Communication channels; Communication system control; Costs; Delay effects; Intelligent robots; Master-slave; Mobile robots; Orbital robotics; Space exploration; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5353995

Filename

5353995