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Adaptive event-triggered scheduling control for multiple robot teleoperation systems.

Hai Yang1, Xia Liu1, Chengyi Wan1

  • 1School of Electrical Engineering and Electronic Information, Xihua University, Chengdu 610039, China.

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|January 31, 2026
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Summary
This summary is machine-generated.

This study introduces adaptive event-triggered control for single-master-multiple-slaves (SMMS) teleoperation systems. The method reduces network congestion and improves robot control performance by dynamically adjusting signal transmission.

Keywords:
Adaptive event-triggered schemeCooperative controlPosition trackingSMMS teleoperation systemsScheduling protocol

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Networked Systems

Background:

  • Single-master-multiple-slaves (SMMS) teleoperation systems face significant challenges due to network congestion and communication resource competition.
  • These issues can degrade system performance and stability, limiting the practical application of SMMS teleoperation.

Purpose of the Study:

  • To propose an adaptive event-triggered scheduling control strategy for SMMS teleoperation systems.
  • To enhance system stability and position tracking performance while mitigating network congestion and communication resource competition.

Main Methods:

  • An adaptive event-triggered scheme using robot position and velocity signals with a dynamic threshold to control triggering frequency.
  • A scheduling protocol prioritizing slave robot signal transmission based on three triggering states.
  • A cooperative controller integrating master and slave signals for system control.

Main Results:

  • The proposed adaptive event-triggered control effectively reduces network congestion and communication resource competition.
  • Guaranteed system stability and convergence of position tracking error demonstrated using Lyapunov functions.
  • Simulations validated the effectiveness of the proposed control strategy.

Conclusions:

  • The developed adaptive event-triggered scheduling control ensures robust stability and precise position tracking in SMMS teleoperation systems.
  • This approach offers a viable solution for overcoming network limitations in complex teleoperation environments.
  • The method significantly alleviates network congestion, paving the way for more reliable and efficient SMMS operations.