Dr. SHEN HenghuaPan, Ya-JunYa-JunPanHe, BingweiBingweiHe2026-09-112026-09-112017Shen, H., Pan, Y. J., & He, B. (2017). Teleoperation of multiple cooperative slave manipulators using graph-based non-singular terminal sliding-mode control. In IEEE (Ed.). The proceedings of 2017 IEEE international conference on robotics and biomimetics (ROBIO). 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao (pp. 1430-1435). IEEE.978153863742597815386374189781538637432http://hdl.handle.net/20.500.11861/29407In this paper, a new framework of nonlinear single-master-multiple-slave (SMMS) manipulator system is proposed for the cooperative tasks with interconnection time delays. This networked system allows a master manipulator to remotely control a manipulator that serves as the leader of a group of followers. The graph-based non-singular terminal sliding-mode (G-NTSM) method is used to design controllers for the bilateral teleoperative subsystem and leader-following cooperative subsystem. Tracking synchronization with time delays can be achieved while the leader is with time-varying velocity and only globally reachable in a directed graph. Simulation results of a team of two degree-of-freedom (DOF) manipulators show that the designed controllers can ensure the bounded tracking errors, and the resultant overall multi-manipulator system is stable.enNatural SciencesSliding Mode ControlTerminal Sliding Mode ControlTerminal Sliding ModeNonsingular Terminal Sliding Mode ControlSlave ManipulatorTime DelayTracking ErrorStability Of SystemControl MethodStrong ConnectionSingle AgentGraph TheoryFinite TimeAsymptotically StableReference SignalShift Of SignalCooperative ControlPosition TrackingError DynamicsSliding Mode Control MethodPresence Of DelayError SetNetwork DelayTime-Varying DelaysConference Paper10.1109/ROBIO.2017.8324618