An adaptive controller for cooperative teleoperation system with time-varying delay and formation

In contemporary technology, cooperative teleoperation systems play a crucial role for scientists and factories engaged in intricate tasks. This paper presents a novel adaptive synchronization method tailored for a single-master and three-slave teleoperation system. This new method achieves acceptable tracking despite time-varying formation, modeling uncertainty, environment torque, and time-varying delay. Furthermore, the Lyapunov stability analysis guarantees the stability of the system. The adaptive synchronization method has been demonstrated in analytical simulations as an effective way to control cooperative teleoperation systems.