engleski

Passive sliding-mode synchronization of multi-robotic systems with structural uncertainties and external disturbances

In this paper a class of sliding-mode based controllers for passive synchronization of a multi-robotic system is proposed. The considered system is composed of a master robot which provides motion commands to the slave robot which performs the actual task. The conventional approach to synchronization of bilateral teleoperators is based on assumption that both robots have the same structure or regression matrix. Such an assumption allows applications of the conventional adaptive control approach for asymptotic tracking. The controller proposed in this paper provides asymptotic synchronization of master and slave robotic systems with different structural configurations. Simulation example with two robots with two revolute joints in horizontal and vertical plane demonstrates the effectiveness of the proposed control strategy.

synchronization; telerobotics; passivity-based control; sliding-mode control

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