Formation Control of Teleoperating Cyber-Physical System With Time Delay and Actuator Saturation

Teleoperating cyber-physical system (TCPS) is referred to as a promising technology to extend human actions and intelligences to remote locations. Many applications of TCPS demand operator and slaves to keep a desired formation. However, the cyber- and physical-constrained characteristics on TCPS make it challenging to achieve such a formation task. This brief is concerned with a formation control problem for multislave TCPS, subject to time-varying delays in cyber channels and actuator saturation in physical channels. We design a decentralized 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 master-slave TCPS. In order to estimate the domain of attraction, the stability conditions are rearranged into a form of linear matrix inequalities (LMIs), and then, the required initial stability conditions for master and salves are developed. The transparent interaction between human operator and environment is also provided. Finally, simulations and experiments are performed for illustration and validation purposes.