Paper Info
Title
Distributed formation control for teleoperating cyber-physical system under time delay and actuator saturation constrains.
Abstract
Teleoperating Cyber-Physical System (TCPS) is referred as a new generation of networked teleoperating system. Question of how to enable master operator and slavers to collaborate for sensing and control is largely unexplored. This paper is concerned with a distributed formation control problem for multi-slave TCPS under time delay and actuator saturation constraints. We first develop a min-weighted rigid graph based topology optimization scheme to reduce the redundancy of communication links in slavers, such that the information fusion can be simplified in the formation controller design. The sufficient conditions for stability are presented to show that the formation controllers can stabilize the master-slave TCPS in the presence of time-varying delay and actuator saturation constraints. Finally, to show the validity of our proposed result, both simulations and experiments are performed. It is demonstrated that the topology optimization reduces the redundancy of communication links in slave site at the expense of increased convergence time, while the formation controllers guarantee global asymptotic stability of teleoperation systems subjected to time-varying delay and actuator saturation constraints.
Year
DOI
Venue
2016
10.1016/j.ins.2016.02.019
Inf. Sci.
Keywords
Field
DocType
Cyber-physical system,Teleoperation,Formation,Time delay,Saturation
Teleoperation,Convergence (routing),Saturation (chemistry),Control theory,Redundancy (engineering),Cyber-physical system,Exponential stability,Operator (computer programming),Topology optimization,Mathematics
Journal
Volume
Issue
ISSN
370-371
C
0020-0255
Citations 
PageRank 
References 
5
0.45
0
Authors
6
Name
Order
Citations
PageRank
Jing Yan115120.02
Cai-Lian Chen283198.98
Xiao-Yuan Luo327133.54
Xian Yang4805.84
Changchun Hua51706120.36
Xinping Guan62791253.38