Synchronization of a Multi-slave Bilateral Nonlinear Teleoperation System in the Presence of External Disturbance and Internal Uncertainties

Abstract

In this paper, synchronization of a multi-agent bilateral nonlinear teleoperation system with the scheme of one-master/multi-slave is considered. For this aim, internal and external disturbances are assumed for the system. Internal disturbance appears due to the uncertainties in parameters of the system model and external uncertainty is exerted on the links of robots. Besides, communication time delays among agents has been considered. To the best of our knowledge, the studies until now did not consider the internal nonlinear system uncertainties, exogenous disturbances and time delays in communication signals for teleoperation synchronization problems to solve with an active control scheme. We assume the external disturbance as an exogenous input and using a disturbance observer based control (DOBC) method in addition to an adaptive approach, the synchronization among agents is shown. Furthermore, some simulation results are presented for the evaluation of theoretical conclusions.