Generalized scattering-based design and cooperative control in teleoperator systems

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The research program proposed in this application aims at development of new methods for analysis and design of force reflecting teleoperator systems that, in particular, include cooperation between different parts of a teleoperator system. The research program will address important theoretical and practical issues related to the analysis and design of complex teleoperator systems. The major directions of this new research program are related to the development of new powerful design framework for complex teleoperator systems that will be based on behavioural approach to modeling and extensive use of generalized scattering transformations, as well as detailed investigation of methods and algorithms for motions/forces synchronization, consensus, and cooperation between parts of a teleoperator system. As an outcome of the proposed research program, new methods for analysis and design of complex teleoperator systems will be developed that are substantially more powerful in comparison with the currently existing methods. In particular, the approach based on behavioral modeling of teleoperator systems and nonlinear conic systems formalism as well as extensive use of generalized scattering transformations will extend the existing limited passivity-based and small-gain-based design approaches and will result in more general and less conservative design methods and procedures, particularly in the presence of communication delays. These new methods will also allow for an extension of many existing linear frequency-domain methods to the practically important case of nonlinear teleoperator systems. The new algorithms for consensus and synchronization in cooperative teleoperator systems will result in improved dexterity and precision of cooperative telemanipulation and allow for execution of complex and difficult tasks which require precise synchronization of motion and forces between slaves. These results will lead to design of new high-performance haptic teleoperation systems for wide range of practical applications, including minimally-invasive surgical systems, cooperative dextrous handling of materials, as well as haptic teleoperation of groups of unmanned aerial vehicles cooperatively executing a task such as handling a common load. The training of highly qualified personnel constitutes an important part of the proposed research program. The training received over the course of the proposed research program will provide a solid background for the trainees' future professional success and will give them competitive advantage in today's high-tech job market. The results achieved during the course of the proposed research program are expected to make substantial impact on the theory and practice of advanced teleoperator systems.