State Convergence Based Design of a Single-Master-Multi-Slave Nonlinear Teleoperation System

A nonlinear teleoperation system consisting of a single master and multiple slave (SM/MS) units is considered in this paper. The interaction between these units follows the extended state convergence architecture and the control objectives are defined as the convergence of slaves' positions to the master position and a scaled force reflection to the master from the slave units. Using Lyapunov-Krasovskii theory, it is shown that the nonlinear teleoperation remains stable under appropriate control gains and the control objectives are also achieved. MATLAB simulations considering a two degrees-of-freedom (DoF) nonlinear teleoperation system are performed to validate the proposed methodology.