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Consensus Tracking for Teleoperating Cyber-physical System

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  • Robot and Applications
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Abstract

In this paper, we investigate the consensus tracking problem for teleoperating cyber-physical system (TCPS) under time-varying delay and actuator saturation constraints. Due to the introduction of communication network, variable propagation time delays are considered in cyber element. In addition, actuator saturation problem is investigated in physical element, which is caused by the physical restrictions on robots. Then, a novel distributed consensus tracking controller is proposed in the presence of time-varying delay and actuator saturation. Meanwhile, sufficient conditions are provided to show that the consensus tracking controller can stabilize the master-slave TCPS. Finally, simulations and experiments are performed to validate our proposed results. It is shown that the consensus controllers can guarantee the asymptotic stability of single-master-multi-slave TCPS.

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Authors and Affiliations

  1. Department of Automation, Yanshan University, Qinhuangdao, 066004, China

    Lingmin Zhang, Jing Yan, Xian Yang, Xiaoyuan Luo & Xinbin Li

  2. School of Mathematics and Information Science and Technology, Hebei Normal University of Science and Technology, Qinhuangdao, 066004, China

    Lingmin Zhang

  3. School of Computer and Information Engineering, Fuyang Normal University, Fuyang, 236037, China

    Fuxiao Tan

Authors
  1. Lingmin Zhang
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  2. Jing Yan
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  4. Xiaoyuan Luo
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Corresponding author

Correspondence to Jing Yan.

Additional information

Recommended by Associate Editor Ohmin Kwon under the direction of Editor Myo Taeg Lim. The work was partially supported by NSFC under 61503320, 61375105, 61673117 and 61571387, by China Postdoctoral Science Foundation under 2015M570235 and 2016T90214, by NSF of Hebei Province under F2016203117, by Hebei Postdoctoral Science Foundation under B2015003018, and by Self-determined Project of Yanshan University under 14LGA020

Lingmin Zhang received the B.S. Degree in applied mathematics from Hebei Normal University, Shijiazhuang, China, in 2003, and the M.S. Degree in applied mathematics from Hebei University of Technology, Tianjin, China, in 2006. She is currently an associate professor in Hebei Normal University of Science and Technology and a Ph.D. candidate in Yanshan University. Her research interests include cooperative control of multi-agent systems and wireless networks.

Jing Yan received the B.Eng. degree in Automation from Henan University, Kaifeng, China, in 2008, and the Ph.D. degree in Control Theory and Control Engineering from Yanshan University, Qinhuangdao, China, in 2014. In 2014, he was a Research Assistant with the Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiaotong University, Shanghai, China. In 2016, he was a research associate with University of Texas at Arlington, Arlington, US. He is currently an Associate Professor with Yanshan University. His research interests cover in networked teleoperation systems, underwater acoustic sensor networks, and cyberphysical systems. He has authored over 20 referred international journal and conference papers. He is the inventor of two patents. He was a recipient of the competitive National Graduate Scholarship from the Ministry of Education of China in 2012. He received the Excellence Paper Award from the National Doctoral Academic Forum of System Control and Information Processing in 2012, and the Science and Technology Innovation Award from Yanshan University in 2013.

Xian Yang received her B.S. degree in Automation from Yanshan University, Qinhuangdao, China, in 2010, and the Ph.D. degree in Control Theory and Control Engineering from Yanshan University, Qinhuangdao, China, in 2014. She is currently an Associate Professor with Yanshan University, Qinhuangdao, China. Her research interests cover in networked teleoperation systems, underwater cyberphysical systems, and nonlinear control. She has authored over 20 referred international journal and conference papers. She is the inventor of two patents. She was a recipient of the competitive National Graduate Scholarship from the Ministry of Education of China in 2013, 2014 and 2015.

Xiaoyuan Luo received the Ph.D. degree from the School of Electrical Engineering, Yanshan University, Qinhuangdao, China, in 2005. He is currently a professor in Yanshan University. His research interests include multiagent cooperation control, security of cyber-physical systems and control of intelligent transportation systems.

Fuxiao Tan received the B.Eng. Degree in automation in 1997 from Hefei University of Technology, China and the Ph.D. degree in control theory and control engineering from Yanshan University in 2009. He is currently a professor in Fuyang Teachers College. His research interests include robust congestion control in communication networks, cooperative control of multiagent systems, and networked control systems.

Xinbin Li received the B. Eng. degree in automation from Hefei University of Technology, China in 1997, and the Ph.D. degree in control theory and control engineering from Yanshan University, China in 2009. From 2011 to 2013, he engaged in postdoctoral research work in Anhui University, China. He is currently a Professor in Fuyang Normal University. His research interests include multi-agent systems, deep reinforcement learning, online sparsification algorithm, kernel-based adaptive dynamic programming, intelligent networked systems, and distributed optimization.

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Zhang, L., Yan, J., Yang, X. et al. Consensus Tracking for Teleoperating Cyber-physical System. Int. J. Control Autom. Syst. 16, 1303–1311 (2018). https://doi.org/10.1007/s12555-017-0041-2

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  • DOI: https://doi.org/10.1007/s12555-017-0041-2

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