Design of Dual-Master-Dual-Slave Teleoperation System through State Convergence

摘要

State convergence [15] and its extended version [17] are novel design methods which will assure the required dynamical system response and remove unwanted effects of the teleoperation systems modeled on the state space along with the synchronization of leader/follower devices. This paper discusses the scheme of dual-leader-dual-follower teleoperation system in detail. The design procedure requires 8n+4 parameters to be determined as compared to 3n+1 in case of single-leader-single-follower teleoperation system, where n is order of the leader/follower device. The feasibility of the proposed scheme to control a dual-leader-dual-follower teleoperation system over delay-less link is studied through simulations in MATLAB/Simulink environment. It is found that each master device can affect the motion of each slave device to a desired degree. Furthermore, the aim of getting requisite performance of the system also achieved while maintaining synchronization between leader/follower to common reference motion of all the leader devices.