Consensus Tracking for Teleoperating Cyber-physical System

In this paper, we investigate the consensus tracking problem for teleoperating cyber-physical system (TCPS) under time-varying delay and actuator saturation constraints. Due to the introduction of communication network, variable propagation time delays are considered in cyber element. In addition, actuator saturation problem is investigated in physical element, which is caused by the physical restrictions on robots. Then, a novel distributed consensus tracking controller is proposed in the presence of time-varying delay and actuator saturation. Meanwhile, sufficient conditions are provided to show that the consensus tracking controller can stabilize the master-slave TCPS. Finally, simulations and experiments are performed to validate our proposed results. It is shown that the consensus controllers can guarantee the asymptotic stability of single-master-multi-slave TCPS.