Adaptive Coordination Control of Bilateral Teleoperators with Time Delay

N. Chopra (1) , M. Spong (2) , R. Lozano (3, 4)

1 University of Maryland [College Park]
2 UT Dallas - University of Texas at Dallas [Richardson]
3 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
4 LAFMIA - Laboratoire Franco-Mexicain d'Informatique et d'Automatique

In this work we analize the controllability and observability properties of several interconnection configurations such as the chain topology and ring topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory tracking for a multiagent system converges to the constant input reference given only to the leader. Also, it is shown that choosing an appropiated gain, the agents achieve consensus for time varying input reference.

Mots clés: teleoperation; passive systems

Domaines: Automatique; Automatique / Robotique

N. Chopra, M. Spong, R. Lozano. Adaptive Coordination Control of Bilateral Teleoperators with Time Delay. Automatica, 2008, 44 (8), pp.2142-2148. ⟨10.1016/j.automatica.2007.12.002⟩. ⟨hal-00413646⟩