Adaptive event-triggered scheduling control for multiple robot teleoperation systems

Network congestion and communication resource competition are common and destructive challenges in single-master-multiple-slaves (SMMS) teleoperation systems. In this paper, an adaptive event-triggered scheduling control for SMMS teleoperation systems is proposed. The event-triggered scheme is based on the position and velocity signals of robots with an adaptive threshold to dynamically adjust the triggering frequency. A scheduling protocol is constructed to allocate the signal transmission priority for slave robots based on three triggering states. Subsequently, a cooperative controller is developed utilizing the master triggered signals and the slave triggered and scheduled signals, guaranteeing the stability and position tracking performance of the system. The system stability and the convergence of the position tracking error are proved with Lyapunov functions and validated through simulations. The proposed method guarantees the stability and position tracking performance of SMMS teleoperation systems while concurrently alleviating network congestion and communication resource competition.