Event-triggered Control of Teleoperation Systems with Time-varying Delays
- Resource Type
- Conference
- Authors
- Li, Chenxi; Li, Yuling; Dong, Jie; Wang, Haijuan
- Source
- 2021 China Automation Congress (CAC) Automation Congress (CAC), 2021 China. :1537-1542 Oct, 2021
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Teleoperators
Sufficient conditions
Loading
Manipulators
Stability analysis
Main-secondary
Delays
bilateral teleoperation
event-triggered mechanism
time-varying communication delays
- Language
- ISSN
- 2688-0938
This paper addresses an event-triggered control framework under nonperiodic event-triggered sampling and time-varying delays for bilateral teleoperation systems. The triggering conditions for teleoperators are offered to limit the the frequency of communication so that the manipulators only communicate state information when it is required. By the proposed P-like controllers under the event-based communication mechanism, the master-slave position synchronization is accomplished. The stability condition of the teleoperation system is provided, and it is demonstrated that Zeno behavior is ruled out. Simulation examples are used to test the designed control algorithm’s effectiveness.