Abstract
AbstractThis paper addresses the synchronization control problem of uncertain single‐master multislave (SMMS) teleoperation system in which every subsystem is connected with each other via a directed constrained communication network. The data exchanges in the channel are discrete in time, intermittent in presence of irregular delays and packet loss, which make the synchronization problem more challenging and still not be well explored. We propose a new adaptive control scheme based on the virtual model and the original dynamic compensator entailing synchronization of all the subsystems under the limited communication. The most recently transmitted information is used to construct the control signal during sampling interval or the period of data loss. The validity of the control approach designed is verified by some simulation results.
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