ABSTRACT
Motivated by the significant demand for easy and efficient implementation, as well as a wider range of applications, a novel unconstrained tele-coordinated control approach is investigated for multilateral teleoperation system based on prescribed performance control and switching control technique, where the basic idea is to employ the concept of motion synchronization in each pair of master-slave robots and among all slave robots. By using the multiple Lyapunov-Krasovskii functionals method, the state-independent input-to-output practical stability of the closed-loop system is established. Compared with the existing approaches, the new design is straightforward and easier to implement and is applicable to a wider area.
