Formation control of Teleoperating Cyber-Physical System subject to time delay and actuator saturation constraints

Abstract

Teleoperating Cyber-Physical System (TCPS) is referred as a promising technology to extend human actions and intelligences to remote locations. The task of how to collaborate master operator and slaves to keep a desired formation is largely unexplored. This paper is concerned with a formation control problem for multi-slave TCPS, subjected to time-varying delay in cyber channels and actuator saturation in physical channels. We first design a controller to enforce the formation of master and slave robots. Sufficient conditions for stability are provided to show that the formation controller can stabilize the TCPS in the presence of time delay and actuator saturation constrains. Finally, simulations are performed to validate our proposed results. It is demonstrated that the formation controller can guarantee global asymmetric stability of TCPS if the required conditions are satisfied.