Event-triggered control for bilateral teleoperation with time delays

摘要

This paper proposes an event-triggered control framework for bilateral teleoperation systems to achieve position tracking under unreliable communication network. With the use of adaptive control and scattering transformation, the passive framework for the master and slave robot are extended to system under non-periodic triggering. By using event-triggered strategy, robotic information is updated and transmitted to another robot only when the triggering conditions are satisfied. Stability and tracking performance are addressed in this paper with the proof of inter-event time. Subsequently, numerical simulations are presented to demonstrate the performance of the presented event-triggered control framework for bilateral teleoperation.