A Control Method for SMMS Teleoperation System with Affection of Disturbance

International Journal of Electrical and Electronics Engineering

© 2018 by SSRG - IJEEE Journal

Volume 5 Issue 11

Year of Publication : 2018

Authors : Ngoc Trung Dang and Xuan Thuan Nguyen

10.14445/23488379/IJEEE-V5I11P101

How to Cite?

Ngoc Trung Dang and Xuan Thuan Nguyen, "A Control Method for SMMS Teleoperation System with Affection of Disturbance," SSRG International Journal of Electrical and Electronics Engineering, vol. 5,  no. 11, pp. 1-8, 2018. Crossref, https://doi.org/10.14445/23488379/IJEEE-V5I11P101

Abstract:

The article presents an overview of some problems in controlling the Teleoperation SMMS (Single Master – Multi Slave) and establishes a control structure that coordinates the slave robots to perform a common task with regard to the effect of disturbance on the system. Based on the dynamic analysis of the Teleoperation SMMS system, with the specific task of the master robot as well as each slave robot, the combination of the disturbance estimation algorithm and the PD - Virtual Damping control algorithm for each robot ensures that the robot trajectory of the slave robot system is dramatically tracked to the trajectory of the master robot under supervision of the operator. By simulating on a Matlab Simulink for the object of Teleoperation SMMS with 2 DOF planar robot arm indicates the correctness of the proposed control method

Keywords:

Teleoperation, SMMS system, PD Controller, Disturbance estimation, Tele-robot

References:

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