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Delayed Trilateral Teleoperation of a Mobile Robot

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  • D. Santiago
  • E. Slawiñski
  • V. Mut

Abstract

This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.

Suggested Citation

  • D. Santiago & E. Slawiñski & V. Mut, 2017. "Delayed Trilateral Teleoperation of a Mobile Robot," Mathematical Problems in Engineering, Hindawi, vol. 2017, pages 1-12, October.
    • Handle: RePEc:hin:jnlmpe:6048365
    DOI: 10.1155/2017/6048365
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