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Volume 1 Issue 2
Apr.  2014

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2014  >  1(2): 141-148
Jing Yan, Xian Yang, Cailian Chen, Xiaoyuan Luo and Xinping Guan, "Bilateral Teleoperation of Multiple Agents with Formation Control," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 2, pp. 141-148, 2014.
Citation: Jing Yan, Xian Yang, Cailian Chen, Xiaoyuan Luo and Xinping Guan, "Bilateral Teleoperation of Multiple Agents with Formation Control," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 2, pp. 141-148, 2014.
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Bilateral Teleoperation of Multiple Agents with Formation Control

  • 1. Jing Yan and Xian Yang are with the Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;

  • 2. Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China;

  • 3. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;

  • 4. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;

  • 5. Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China

Funds:

This work was supported by National Basic Research Program of China (973 Program) (2010CB731803), National Natural Science Foundation of China (61221003, 61290322, 61273181, 61074065), Natural Science Foundation of Hebei Province (2012203119), Science Foundation of Yanshan University for Excellent Ph. D. Students (201204), and Doctor Foundation of Yanshan University (B832).

    Abstract
  • This paper studies the formation problem for multislave teleoperation system over general communication networks, where multiple mobile slave agents are coupled with a single master robot. The forward and backward network transmission time delays are assumed to be asymmetric and time-varying. Due to the quantization in the network, a dynamic quantization strategy is provided to quantize the output signals of the master robot and slave agents before transmitting. Then, a novel masterslave protocol is designed to achieve the formation task under variable time delays and quantization. Additionally, the sufficient conditions for stability are presented to show that the formation protocol can stabilize the master-slave system under variable time delays and quantization. Finally, simulation are performed to show effectiveness of the main results.

     

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