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Integral adaptive event-triggered predefined-time control for robotic teleoperation systems.

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This study introduces an integral adaptive event-triggered control strategy to enhance robotic teleoperation. The method reduces communication load while ensuring precise tracking accuracy between master and slave robots.

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Networked Systems

Background:

  • Robotic teleoperation systems face challenges with limited communication bandwidth, impacting tracking performance.
  • Existing control strategies often require frequent data transmission, leading to inefficient communication.
  • Accurate position tracking is crucial for effective human-robot interaction in teleoperation.

Purpose of the Study:

  • To develop an integral adaptive event-triggered control strategy for improving communication efficiency and tracking accuracy in robotic teleoperation.
  • To reduce the communication network access frequency by intelligently triggering data updates.
  • To ensure precise position tracking between master and slave robots within a predefined time.

Main Methods:

  • An integral adaptive event-triggered mechanism was designed to evaluate error integrals for data update decisions.
  • A predefined-time sliding mode controller was implemented using data transmitted at triggering moments.
  • System stability was rigorously proven using theoretical analysis.
  • The proposed strategy's effectiveness was validated through extensive simulations.

Main Results:

  • The integral adaptive event-triggered mechanism significantly reduced communication network access frequency.
  • The predefined-time sliding mode controller achieved accurate position tracking between master and slave robots.
  • The overall system demonstrated proven stability.
  • Simulations confirmed the superiority of the proposed strategy over existing methods.

Conclusions:

  • The proposed integral adaptive event-triggered control strategy effectively enhances communication efficiency in robotic teleoperation.
  • The strategy ensures accurate position tracking, with errors converging within a predefined time.
  • This approach offers a significant reduction in information transmission for networked robotic systems.