State Convergence-based Control of a Multi-Master-Single-Slave Non-linear Teleoperation System
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Bibliographic record
Abstract
This paper presents the design of a state convergence based control scheme, for a multi-master-single-slave nonlinear teleoperation system.The control objective is that the slave follows the weighted motion of the master systems, in free motion, and the master systems receive the scaled force feedback, while the slave system is in contact with the environment.To achieve the desired objectives, extended state convergence architecture is modified and appropriate control gains are chosen following a Lyapunov based stability analysis.MATLAB simulations considering a two-degree-of-freedom tri-master-singleslave nonlinear teleoperation system are provided to show the validity of the proposed scheme.
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Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
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Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
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