| Autor: |
Kai-Lun Huang, Chang-Duo Liang, Qing-Jia Zhao, Xionghua Liu, Ming-Feng Ge |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
IEEE Access, Vol 12, Pp 136657-136665 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2024.3432889 |
| Popis: |
This article investigates the problem of teleoperation teaching in the context of surround tracking control for networked perturbed robots (NPR). The teleoperation teaching scenario involves a teacher indirectly guiding multi-slave robots through a master robot. The cooperative control target is the human-master-slave (HMS) teleoperation teaching task, which can be divided into two main components. The HM subtask is to control the master robot to track a human-defined demonstration trajectory in a laboratory. The MS subtask uses a hierarchical control framework where the distributed observer layer monitors the master robot, and the local control layer coordinates multiple slave robots to form a square in the classroom, tracking the master robot’s remote motion virtual trajectory. To attain tracking control objectives within a finite time frame, we introduce a finite-time adaptive control method. This method aims to ensure the finite-time tracking of the NPR under the parameter uncertainty and external perturbation. Finally, simulation results confirm the effectiveness of the proposed control method. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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