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