Coordination of MIMO teleoperation systems via robust exponential stabilization

Abstract

This paper addresses a coordination of multi-input and multi-output (MIMO) teleoperation manipulator systems via robust exponential stabilization. The system considered in this paper is a pair of master manipulator and slave manipulator connected by a network. In such case, the main task we are seeking to solve is to synchronize these two manipulators such that they are coordinated exponentially without any overshoot during the convergence. It is supposed that there exist measurement noises and the manipulators have some sort of model uncertainties. It can be shown that the teleoperation system still can be exponentially synchronized even in the presence of these noises and uncertainties. Existing teleoperation control systems have been devoted to the stability analysis or synthesis on the base of passivity concept and/or asymptotical stability. Thus a novel contribution of this paper is to propose a control scheme for the coordination of teleoperation via robust exponentially stabilization.