Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays

Abstract EN

A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays.

The system stability in different scenarios of human and environment situations has been analyzed.

The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators.

The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.