  In this paper, bilateral teleoperation of multiple slaves coupled to a single
master under scheduling communication is investigated. The sampled-data
transmission between the master and the multiple slaves is fulfilled over a
delayed communication network, and at each sampling instant, only one slave is
allowed to transmit its current information to the master side according to
some scheduling protocols. To achieve the master-slave synchronization,
Round-Robin scheduling protocol and Try-Once-Discard scheduling protocol are
employed, respectively. By designing a scheduling-communication-based
controller, some sufficient stability criteria related to the controller gain
matrices, sampling intervals, and communication delays are obtained for the
closed-loop teleoperation system under Round-Robin and Try-Once-Discard
scheduling protocols, respectively. Finally, simulation studies are given to
validate the effectiveness of the proposed results.
