Muhammad Usman Asad, Umar Farooq, Jason Gu, Rajeeb Dey, Nabanita Adhikary, Rupak Datta and Chunqi Chang
State convergence, extended state observer, teleoperation, MAT-LAB/QUARC/Simulink
In the existing extended state convergence architecture, k-master systems can control the motion of l-slave systems to perform a certain task in a remote environment. However, dependency of this control framework on systems’ parameters leads to a degraded control performance in the presence of significant parameter variations. In this study, we have integrated extended state observers in extended state convergence architecture to counter the effect of uncertainties, which has resulted in a more practical architecture for multilateral teleoperation systems. In order to validate the proposed enhanced architecture, simulations are performed in MATLAB/Simulink environment by considering a symmetric (2 × 2) as well as asymmetric (2 × 1) teleoperation system. A comparative assessment with the existing state convergence architecture proves the superiority of the proposed architecture. In addition, hardware experimentation is carried out on Quanser QUBE-servo systems by setting up an asymmetric (1 × 2) teleoperation system in the QUARC environment.
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