Most research so far in teleoperation control has assumed that all information is transmitted continuously. Unfortunately, the damaged and electromagnetic interfered line cause communication link failure. In addition, the unreliable link further leads to port data congestion. The data packet will be discarded when the buffer overflows. Consequently, it is unknown whether stability of the teleoperator could be guaranteed in the presence of intermittent communications. In order to overcome these drawbacks, in this paper, we provide a solution to the formation control problem of a single-master-multislave teleoperator in the situation where each robot is allowed to communicate with its neighbors only at some irregular discrete time instants. The relationship among control gains, topology, and maximum-allowable connected interval is presented. Simulations are performed to show the validity of our proposed approach.

中文翻译：

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间歇通信协作远程操作员的自适应编队控制


迄今为止，大多数远程操作控制研究都假设所有信息都是连续传输的。不幸的是，损坏和电磁干扰的线路会导致通信链路故障。此外，不可靠的链路进一步导致端口数据拥塞。当缓冲区溢出时，数据包将被丢弃。因此，在间歇性通信的情况下是否能够保证远程操作员的稳定性尚不清楚。为了克服这些缺点，在本文中，我们提出了一种解决单主多从远程操作员编队控制问题的方案，该问题是每个机器人仅在某些不规则的离散时刻与其邻居进行通信的情况。给出了控制增益、拓扑和最大允许连接间隔之间的关系。进行模拟以显示我们提出的方法的有效性。