Bilateral Teleoperation of Multiple Robots under Scheduling Communication
Li, Yuling LU ; Liu, Kun ; He, Wei ; Yin, Yixin ; Johansson, Rolf LU
and Zhang, Kai
(2020)
In IEEE Transactions on Control Systems Technology
28(5).
p.1770-1784
- Abstract
In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the master-slave synchronization, round-robin (RR) scheduling protocol and try-once-discard (TOD) scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays... (More)
In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the master-slave synchronization, round-robin (RR) scheduling protocol and try-once-discard (TOD) scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays are obtained for the closed-loop teleoperation system under the RR and TOD scheduling protocols, respectively. Finally, simulation studies are given to validate the effectiveness of the proposed results.
(Less)
- author
- Li, Yuling
LU
; Liu, Kun
; He, Wei
; Yin, Yixin
; Johansson, Rolf
LU
and Zhang, Kai
- organization
- publishing date
- 2020
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Lyapunov-Krasovskii method, robots, sampled-data systems, scheduling communication, teleoperation, time delays
- in
- IEEE Transactions on Control Systems Technology
- volume
- 28
- issue
- 5
- article number
- 8760268
- pages
- 15 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:85070798808
- ISSN
- 1063-6536
- DOI
- 10.1109/TCST.2019.2923788
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- b81e17df-970d-40d4-9cc1-6a57dbf76ce6
- date added to LUP
- 2020-12-18 14:45:13
- date last changed
- 2023-04-11 01:41:41
@article{b81e17df-970d-40d4-9cc1-6a57dbf76ce6,
abstract = {{<p>In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the master-slave synchronization, round-robin (RR) scheduling protocol and try-once-discard (TOD) scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays are obtained for the closed-loop teleoperation system under the RR and TOD scheduling protocols, respectively. Finally, simulation studies are given to validate the effectiveness of the proposed results. </p>}},
author = {{Li, Yuling and Liu, Kun and He, Wei and Yin, Yixin and Johansson, Rolf and Zhang, Kai}},
issn = {{1063-6536}},
keywords = {{Lyapunov-Krasovskii method; robots; sampled-data systems; scheduling communication; teleoperation; time delays}},
language = {{eng}},
number = {{5}},
pages = {{1770--1784}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
series = {{IEEE Transactions on Control Systems Technology}},
title = {{Bilateral Teleoperation of Multiple Robots under Scheduling Communication}},
url = {{http://dx.doi.org/10.1109/TCST.2019.2923788}},
doi = {{10.1109/TCST.2019.2923788}},
volume = {{28}},
year = {{2020}},
}