Event‐triggered control for adaptive bilateral teleoperators with communication delays

Hu, Shin Chen; Liu, Yen‐Chen

doi:10.1049/iet-cta.2019.0298

Cited by 16 publications

(11 citation statements)

References 44 publications

(103 reference statements)

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“…Remark 2. It can be deduced from ( 32), ( 33), (36), and (37) that θm (t 0 ) > 0, θs (t 0 ) > 0, dm (t 0 ) > 0, and ds (t 0 ) > 0 with any initial value, that is, θm (t) > 0, θs (t) > 0, dm (t) > 0, and ds (t) > 0 always hold when t > t 0 . Therefore, for the sake of simplicity in the following article, we always assume that θm (t) > 0, θs (t) > 0, dm (t) > 0, and ds (t) > 0.…”

Section: Controller Design Process and Stability Analysismentioning

confidence: 99%

“…Assumption 2 is satisfied, the tracking error is converged to a small area around the origin in a fixed period of time with the controller (38) under the event-triggered scheme (39), the virtual control signals ( 24), ( 25), ( 28), (29), the updating rate ( 32), (33), the disturbance compensator (36), (37), and all of the bounded initial signals.…”

Section: Theorem 1 Consider a Class Of Bilateral Teleoperation Nonlin...mentioning

confidence: 99%

“…[33][34][35] As above mentioned, the event-triggered control system is a useful technique that can significantly reduce the communication burden. However, except for the research results based on transformation-based framework adopted from the scattering variables, 36 the advantages of event-triggered control are rarely considered in bilateral teleoperation systems by directly coordinating synchronization errors.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive event‐triggered synchronization control for bilateral teleoperation system subjected to fixed‐time constraint

Zhao

Liu

Wang

2022

Adaptive Control & Signal

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Summary The time‐constrained positional synchronization control problem for a class of bilateral teleoperation systems is investigated and a novel fixed‐time event‐triggered control scheme is developed. Different from existing methods, the controller is triggered in a nonperiodic manner, which reduces considerably the triggering frequency of control devices. This not only saves communication resource, but also extends the lifespan of system devices because of the reduction of switching times. The control settling time is further considered by introducing a fixed‐time stability theorem. Theoretical analysis as well as a simulation example verifies that the proposed control method can reduce remarkably the amount of control signals transmitted between the master and slave while ensuring that the system output tracking error converges to a small neighborhood close to zero within a fixed‐time frame.

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Section: Controller Design Process and Stability Analysismentioning

confidence: 99%

Section: Theorem 1 Consider a Class Of Bilateral Teleoperation Nonlin...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive event‐triggered synchronization control for bilateral teleoperation system subjected to fixed‐time constraint

Zhao

Liu

Wang

2022

Adaptive Control & Signal

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“…[39][40][41][42] for single-arm manipulators and [43,44] for mobile robots). The ET scheme with the multiple networked Euler-Lagrange systems is recently exploited [45][46][47][48]. However, a few studies have implemented the ET strategy in the field of cooperative dual-arm manipulators [49,50].…”

Section: Introductionmentioning

confidence: 99%

Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Abbas

Dwivedy

2021

Robotica

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In this paper, an improved adaptive motion-force control approach is introduced to control the cooperative manipulators transporting a shared object under limited communication. The adaptive controller is designed based on the backstepping approach to control the motion of the handled object in the presence of uncertainties and external disturbances. Moreover, the force controller is established to maintain constant internal forces. An event-triggered (ET) mechanism is derived based on the Lyapunov analysis to deal with the bandwidth restrictions and maintain the system stability during the cooperative manipulation. The effectiveness of the proposed control scheme is investigated by comparing it with the existing variations of adaptive backstepping control (i.e., traditional and state augmented schemes). Moreover, the designed triggering mechanism is compared with different triggering conditions presented in the literature. The proposed control approach is further validated in a more realistic virtual robot experimentation platform (i.e., V-REP) using two SCORBOT-ER VPlus manipulators. From the TrueTime-based simulation runs, the proposed control scheme exhibits superior performance in tandem with efficient utilization of the network resources during the transportation task.

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“…The teleoperation system, as one of the most important tools for accomplishing remote tasks, has received increasing attention. This is mainly due to that such system allows a human operator in an operation space to regulate the tasks conducted in the remote workspace, which is possibly located in a dangerous environment and sometimes unreachable by human beings [1][2][3]. A typical teleoperation system generally consists of a master robot, a slave robot, a human operator and a task environment, and requires the robots to exchange their information through a bidirectional communication channel.…”

Section: Introductionmentioning

confidence: 99%

Neuro‐adaptive fixed‐time trajectory tracking control for human‐in‐the‐loop teleoperation with mixed communication delays

Ding

et al. 2020

IET Control Theory & Appl

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The fixed-time master-slave trajectory tracking control problem of the human-in-the-loop teleoperation systems with mixed communication delays (including time-varying delays and random delays), parametric uncertainties, and external disturbances is discussed in this study. Based on the non-singular terminal sliding mode control technique, a novel neuroadaptive fixed-time control algorithm is designed to solve the above-mentioned problem. Moreover, to improve the steady-state performance of the presented control algorithm, the combination of the radial basis function neural networks, parametric adaptive laws and fixed-time control method is newly-designed and used to reduce the effects of parametric uncertainties and external disturbances. By employing the Lyapunov argument, the sufficient conditions on the control parameters for guaranteeing the fixed-time stability of the controlled teleoperation system are derived. Besides, the authors also present the upper bound of the settling time and prove that it is independent of the initial condition. Finally, several simulation examples are performed to verify the effectiveness of the theoretical results.

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Event‐triggered control for adaptive bilateral teleoperators with communication delays

Cited by 16 publications

References 44 publications

Adaptive event‐triggered synchronization control for bilateral teleoperation system subjected to fixed‐time constraint

Adaptive event‐triggered synchronization control for bilateral teleoperation system subjected to fixed‐time constraint

Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Neuro‐adaptive fixed‐time trajectory tracking control for human‐in‐the‐loop teleoperation with mixed communication delays

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