A Composite State Convergence Scheme for Multilateral Teleoperation Systems

Muhammad Usman ASAD¹, Jason GU¹, Umar FAROOQ¹, Valentina E. BALAS²*,
Zheng CHEN³, Chunqi CHANG⁴, Athar HANIF⁵
¹ Department of Electrical and Computer Engineering, Dalhousie University, Halifax, B3H 4R2, NS, Canada
mh549096@dal.ca, Jason.gu@dal.ca, umar.farooq@dal.ca
² Automatics & Applied Informatics, Aurel Vlaicu University of Arad, Arad, 310130, Romania
valentina.balas@uav.ro, balas@drbalas.ro (*Corresponding author)
³ Ocean College, Zhejiang University, Hangzhou, 310027, Zhejiang, China
zheng_chen@zju.edu.cn
⁴ School of Biomedical Engineering, Health Science Center, Shenzhen University, Shenzhen, 518060, China
cqchang@szu.edu.cn
⁵ Center for Automotive Research, College of Engineering, The Ohio State University, Columbus, Ohio, 43213
hanif.6@osu.edu

Abstract: Composite state convergence scheme is a reduced-complexity version of the state convergence controller for teleoperation system. It employs a smaller number of control gains and communication channels used to synchronize the motion of a single master-slave system in a desired dynamic way. The present study aims at generalizing the composite state convergence scheme so that l-slave systems can follow the weighted motion of k-master systems. To achieve this, at first, composite variables of all master and slave systems are transmitted across the communication channel along with operators’ forces and a set of k+l+2kl control gains is defined. In the second stage, the design procedure of the existing composite state convergence scheme is extended for multiple systems and the control gains are determined through the solution of coupled equations. Finally, to validate the findings, simulations and semi-real time experiments are performed in MATLAB/Simulink/QUARC environment by considering different configurations of teleoperation systems.

Keywords: State convergence, Composite variables, Linear systems, Teleoperation, Time delay, MATLAB/Simulink.

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CITE THIS PAPER AS:
Muhammad Usman ASAD, Jason GU, Umar FAROOQ, Valentina E. BALAS, Zheng CHEN, Chunqi CHANG, Athar HANIF, A Composite State Convergence Scheme for Multilateral Teleoperation Systems, Studies in Informatics and Control, ISSN 1220-1766, vol. 30(2), pp. 33-42, 2021. https://doi.org/10.24846/v30i2y202103