Bilateral teleoperation of a formation of nonholonomic mobile robots under constant time delay

We applied partial feedback linearization to the unicycle model to stabilize part of the state at a desired position on the plane and extend it to design formation control for teleoperation. Further, using output synchronization results we derive a Single Master Multiple Slave bilateral teleoperatio...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2821 - 2826
Main Authors Palafox, O.M., Spong, M.W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Communication channels
Communication system control
Costs
Delay effects
Intelligent robots
Master-slave
Mobile robots
Orbital robotics
Space exploration
USA Councils
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ISBN9781424438037
1424438039
ISSN2153-0858
DOI10.1109/IROS.2009.5353995

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Summary:We applied partial feedback linearization to the unicycle model to stabilize part of the state at a desired position on the plane and extend it to design formation control for teleoperation. Further, using output synchronization results we derive a Single Master Multiple Slave bilateral teleoperation system robust to constant unknown, possible different time delays between master and formation and among mobile robots and formation. We show our simulation's results to illustrate the performance of the derived control law.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5353995