HMS Teleoperation Teaching Surround Tracking for Networked Perturbed Robots via Finite-Time Hierarchical Control Approach

Abstract

This article investigates the problem of teleoperation teaching in the context of surround tracking control for networked perturbed robots (NPR). The teleoperation teaching scenario involves a teacher indirectly guiding multi-slave robots through a master robot. The cooperative control target is the human-master-slave (HMS) teleoperation teaching task, which can be divided into two main components. The HM subtask is to control the master robot to track a human-defined demonstration trajectory in a laboratory. The MS subtask uses a hierarchical control framework where the distributed observer layer monitors the master robot, and the local control layer coordinates multiple slave robots to form a square in the classroom, tracking the master robot’s remote motion virtual trajectory. To attain tracking control objectives within a finite time frame, we introduce a finite-time adaptive control method. This method aims to ensure the finite-time tracking of the NPR under the parameter uncertainty and external perturbation. Finally, simulation results confirm the effectiveness of the proposed control method.

Keywords

• HMS teleoperation
• surround tracking
• networked perturbed robots
• hierarchical control