Bilateral teleoperation of a formation of nonholonomic mobile robots under constant time delay

Abstract

We applied partial feedback linearization to the unicycle model to stabilize part of the state at a desired position on the plane and extend it to design formation control for teleoperation. Further, using output synchronization results we derive a Single Master Multiple Slave bilateral teleoperation system robust to constant unknown, possible different time delays between master and formation and among mobile robots and formation. We show our simulation's results to illustrate the performance of the derived control law.