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Event-Triggered Control and Communication for Single-Master Multislave Teleoperation Systems With Try-Once-Discard

Yuling Li, Chenxi Li, Kun Liu

IEEE Transactions on Cybernetics

|November 4, 2025

Summary

This study optimizes bandwidth for single-master multislave (SMMS) teleoperation systems by combining event-triggered control and the try-once-discard (TOD) protocol. The proposed adaptive controllers ensure master-slave synchronization despite network challenges.

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Area of Science:

Robotics
Control Systems
Networked Systems

Background:

Single-master multislave (SMMS) teleoperation enhances task efficiency and adaptability.
Increasing slave manipulators strain communication bandwidth, necessitating optimization strategies.

Purpose of the Study:

To optimize network bandwidth and energy consumption in SMMS teleoperation systems.
To develop robust event-triggered control and communication schemes for SMMS.

Main Methods:

Combined try-once-discard (TOD) scheduling protocol with event-triggered mechanisms.
Developed adaptive controllers with virtual observers for master-slave synchronization.
Established stability criteria excluding Zeno behavior.

Main Results:

Successfully optimized network bandwidth and energy usage in SMMS teleoperation.
Achieved master-slave synchronization under dynamic uncertainties, velocity unavailability, and time-varying delays.
Validated the proposed algorithms through experimental results.

Conclusions:

The integrated approach effectively addresses bandwidth limitations in SMMS teleoperation.
The developed adaptive controllers ensure system stability and synchronization.
The findings are experimentally validated, confirming the algorithms' effectiveness.