Distributed Multilateral Teleoperation Framework Using Passivity-Shortage

Abstract

In this paper, we propose a multilateral teleoperation framework, to cooperatively control a distributed multi-agent system, using passivity-short controllers. The output of the multi-agent system is designed to follow a normal distribution and desired performance is achieved by controlling the features of distribution. The concept of incremental passivity-shortage is introduced, and it is used to achieve convergence of input-output error. The results show that the proposed method has L2 stability and zero convergence error, even in the presence of communication delays. We also provide an example, that shows delay-independent performance, for both symmetric and asymmetric multilateral teleoperation. The proposed method does not have an upper-bound on the number of agents to be controlled.