Teleoperation of multiple cooperative slave manipulators using graph-based non-singular terminal sliding-mode control
Henghua Shen, Ya‐Jun Pan, Bingwei He · 2017
In this paper, a new framework of nonlinear single-master-multiple-slave (SMMS) manipulator system is proposed for the cooperative tasks with interconnection time delays. This networked system allows a master manipulator to remotely control a manipulator that serves as the leader of a group of followers. The graph-based non-singular terminal sliding-mode (G-NTSM) method is used to design controllers for the bilateral teleoperative subsystem and leader-following cooperative subsystem. Tracking synchronization with time delays can be achieved while the leader is with time-varying velocity and only globally reachable in a directed graph. Simulation results of a team of two degree-of-freedom (DOF) manipulators show that the designed controllers can ensure the bounded tracking errors, and the resultant overall multi-manipulator system is stable.