CONICET | Buscador de Institutos y Recursos Humanos

This paper analyzes the stability of a trilateral teleoperation system of amobile robot. This type of system is nonlinear, varying-time, delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master / velocity slave strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.