Sliding Mode Adaptive Synchronization Control Dual Master Dual Slave Teleoperation System

doi:10.16182/j.issn1004731x.joss.19-0371

Abstract

Abstract: Aiming at the relative coordinated motion of the two-slave arms' end poses in the dual-master dual-slave teleoperation system, the influence on the coordinated positional relationship of the two slaves is analyzed when one of the master-slave controls is disturbed. A feasible synchronous position control method is propose which enables both the master-slave position error and the synchronization error of the dual master dual slave remote operating system to converge to zero during the coordinated motion When the master-slave arm moves along the desired trajectory, the coordination and synchronization of the movement between the two slave arms are ensured, and the global stability of the system is proved by the Lyapunov stability theory. The correctness and effectiveness of the synchronization control strategy of the dual master and dual slave teleoperation system are verified.

Key words: dual master and dual slave, teleoperation, synchronous control, coordinated handling

CLC Number:

TP391.9

Hu Lingyan, Li Shiqiang, Fu Yun. Sliding Mode Adaptive Synchronization Control Dual Master Dual Slave Teleoperation System[J]. Journal of System Simulation, 2021, 33(2): 366-376.

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