摘要：Composite state convergence scheme is a reduced-complexity version of the state convergence controller for teleoperation system. It employs a smaller number of control gains and communication channels used to synchronize the motion of a single master-slave system in a desired dynamic way. The present study aims at generalizing the composite state convergence scheme so that l-slave systems can follow the weighted motion of k-master systems. To achieve this, at first, composite variables of all master and slave systems are transmitted across the communication channel along with operators’ forces and a set of k l 2kl control gains is defined. In the second stage, the design procedure of the existing composite state convergence scheme is extended for multiple systems and the control gains are determined through the solution of coupled equations. Finally, to validate the findings, simulations and semi-real time experiments are performed in MATLAB/Simulink/QUARC environment by considering different configurations of teleoperation systems.
其他关键词：State convergence, Composite variables, Linear systems, Teleoperation, Time delay, MATLAB/Simulink.
