A cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays

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dc.contributor.authorAmir Zakerimanesh
dc.contributor.authorFarzad Hashemzadeh
dc.contributor.authorAli Torabi
dc.contributor.authorMahdi Tavakoli
dc.date.accessioned2025-05-01T12:10:17Z
dc.date.available2025-05-01T12:10:17Z
dc.date.issued2022-11-03
dc.descriptionIn this article, a novel multilateral teleoperation structure is presented for cooperative control of a redundant remote robot in the task-space. In the structure, each local robot is assigned a real number between zero and one, as its dominance factor. The sum of all the assigned factors is equal to one, and a greater dominance factor implies that its corresponding operator will have more power in controlling the remote robot. The time-varying delays in the communication channels, the actuators saturation, and the nonlinear dynamics are incorporated into the controller development. Using Barbalat’s lemma and a Lyapunov-Krasovskii functional, the asymptotic stability analysis of the closed-loop dynamics are shown, and the performance claims are delivered. Simulation and experimental results are provided to verify the theoretical findings.
dc.identifier.doihttps://doi.org/10.7939/r3-vwwc-m896
dc.language.isoen
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/
dc.subjectCooperative Control
dc.subjectMultilateral Teleoperation
dc.subjectSaturation Control
dc.subjectTask-Space Synchronization
dc.subjectTime-Varying Delay
dc.titleA cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays
dc.typehttp://purl.org/coar/resource_type/c_6501 http://purl.org/coar/version/c_970fb48d4fbd8a85
ual.jupiterAccesshttp://terms.library.ualberta.ca/public

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