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dc.contributor.advisor
dc.contributor.authorShen, Henghua
dc.date.accessioned2020-11-03T18:31:40Z
dc.date.available2020-11-03T18:31:40Z
dc.identifier.urihttp://hdl.handle.net/10222/79995
dc.description.abstractTeleoperation of multiple robot manipulators has been one of the most popular research areas in the robotics research community for the last couple of decades. Such complex systems can be decoupled into two subsystems, namely, multi-agent systems (MASs) and teleoperation systems. In addition to the high nonlinearity of the networked multi-manipulator systems, deleterious effects, caused by network-induced constraints and the lack of exact robot modelling information, can make the control systems' desired performance and stability difficult to achieve. To meet these challenges, concepts from the non-singular terminal sliding mode (NTSM) control method are developed to achieve the exogenous disturbance rejection and the finite-time full-pose synchronization. Additionally, a new adaptive NTSM (ANTSM) scheme is designed for multi-manipulator systems where the models may be initially uncertain or slowly varying over time. To further improve the performance, a set of novel techniques are developed, including the use of novel mixed-type feedback, time-varying logistic-function-based control gain, and energy-index-based neighbour selection policy. The proposed ANTSM approach has also successfully been applied to the teleoperation control systems. In addition, the master manipulator uses a force predictor to estimate the real-time environmental force on the slave side so that the direct transmission of the force signals is avoided. The proposed approaches for the MASs and teleoperation subsystems are integrated into a single-master-multiple-slave manipulator system. Simulation and experimental results validate the efficacy of the proposed schemes.en_US
dc.language.isoenen_US
dc.rightsIn reference to IEEE copyrighted material which is used with permission in this thesis, the IEEE does not endorse any of Dalhousie University's products or services. Internal or personal use of this material is permitted. If interested in reprinting/republishing IEEE copyrighted material for advertising or promotional purposes or for creating new collective works for resale or redistribution, please go to http://www.ieee.org/publications_standards/publications/rights/rights_link.html to learn how to obtain a License from RightsLink.
dc.subjectNonlinear Control Systemsen_US
dc.subjectMulti-Agent Systemsen_US
dc.subjectTeleroboticsen_US
dc.titleNetworked Multi-Manipulator System and Its Teleoperation Using Adaptive Non-Singular Terminal Sliding Mode Controlen_US
dc.typeThesisen_US
dc.date.defence2020-10-26
dc.contributor.departmentDepartment of Mechanical Engineeringen_US
dc.contributor.degreeDoctor of Philosophyen_US
dc.contributor.external-examinerDr. Wen-Fang Xieen_US
dc.contributor.graduate-coordinatorDr. Farid Taherien_US
dc.contributor.thesis-readerDr. Mae Setoen_US
dc.contributor.thesis-readerDr. Serguei Iakovleven_US
dc.contributor.thesis-supervisorDr. Ya-Jun Panen_US
dc.contributor.ethics-approvalNot Applicableen_US
dc.contributor.manuscriptsYesen_US
dc.contributor.copyright-releaseNot Applicableen_US
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