Hierarchical Cloud-Supported Control Framework for Space Teleoperation With Networked-Follower Robots

摘要

This article proposes a hierarchical cloud-supported control (HCSC) framework for space teleoperation systems, leveraging cloud-supported communication to enhance long-distance transmission and data processing capabilities. The HCSC framework enables cooperation and manipulability improvements for networked-follower robots, while simultaneously processing local and cloud data. Within the framework, we integrate the self-triggered fixed-time estimation, local fixed-time controller, and supertwisting-based observer components. By leveraging self-triggered and fixed-time control theories, we establish sufficient criteria for fixed-time estimation and stabilization in teleoperation systems with cloud-supported communication. These criteria ensure that teleoperation tasks can be accomplished within a user-defined fixed time, regardless of the initial conditions. Besides, the supertwisting-based observer is presented to improve the telepresence, namely, the ability of reconstructing the space interaction force for the human operator in the leader side. Finally, simulation results are presented to demonstrate the effectiveness of the HCSC framework.