Adaptive Fuzzy Control of Multilateral Asymmetric Teleoperation for Coordinated Multiple Mobile Manipulators

This paper addresses adaptive fuzzy control for multimaster-multislave teleoperation for multiple mobile manipulators carrying a common object in a cooperative manner that subjected to asymmetric time-varying delays and model parameter uncertainties. In the proposed control framework, a novel switched error filtering is designed. By introducing the filtering output in the control torque design, the complete closed-loop master/slave systems are modeled as a special class of switched system that are composed of two subsystems, i.e., the local master (slave) dynamics with well-defined auxiliary variable and the switched error filter subsystem, which is fairly different from the existing subsystem decomposition method. Utilizing the Lyapunov-Krasovskii method, the complete closed-loop master (slave) system is proved to be state-independent input-to-output stable. The proposed scheme has overcome some application limitations existing in the literature. It is shown that the position tracking errors and the parameter estimation errors can remain bounded under the proposed control laws, which are validated by simulation studies.