Master-slave synchronization with switching communication through passive model-based control design

In this paper we consider a master-slave robot system communicating across a bilateral communication network subject to information loss. The dynamics of the network are modelled as two binary variables. The resulting overall system is a switched system composed of master and slave with continuous dynamics, and the network which serves as switching law. The master and slave on each side of the network are provided with a model of their counterpart. We design a controller to achieve stable synchronization of the master and slave systems independent of the switching introduced by the information loss in the network. Our approach enforces passivity of the interconnected switched system using a common storage function. The passivity property guarantees stable interaction of the system with a passive environment. Such property is highly desirable in teleoperators, as well as any cooperating robotic systems