Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification

摘要

In this paper, we present experimental studies on a cooperative controlsystem for human-robotic networks with inter-robot communication delays. Wefirst design a cooperative controller to be implemented on each robot so thattheir motion are synchronized to a reference motion desired by a humanoperator, and then point out that each robot motion ensures passivity.Inter-robot communication channels are then designed via so-called scatteringtransformation which is a technique to passify the delayed channel. Theresulting robotic network is then connected with human operator based onpassivity theory. In order to demonstrate the present control architecture, webuild an experimental testbed consisting of multiple robots and a tablet. Inparticular, we analyze the effects of the communication delays on the humanoperator's behavior.