Control de cumplimiento prescrito y personalizado en tiempo predefinido sin sensores activado por eventos para...

In this study, we develop an event-triggered predefined-time sensorless prescribed and personalized compliant performance control scheme for teleoperation systems. In the absence of force/torque sensors, a predefined-time torque behavior estimator (PTTBE) is designed, and its estimated values are applied to both the admittance structure and the control law. Then, a variable stiffness parameter related to the operator's surface electromyography (sEMG) signal is incorporated into the admittance structure. By integrating the PTTBE, predefined-time sliding manifold, predefined-time performance function, and event-triggered mechanism involving time-scaling, error-scaling, and muscle activation-scaling functions, the PTTBE-based event-triggered predefined-time control (PTTBE-ETPTC) scheme is proposed. This scheme ensures that not only does the tracking error converge to a residual set within a predefined time regardless of the system's initial state, but also that the error constraints are not violated at any time. Compared with existing tracking control methods, the introduction of a variable stiffness parameter admittance structure, along with an event-triggered mechanism related to predefined-time parameters and a variable capable of reflecting the operator's intention, greatly enhances the system's flexibility, enabling a favorable balance between tracking performance for free motion and compliant performance for interaction/contact situations while reducing the control frequency. Simulations and experiments are carried out to demonstrate the effectiveness and practicality of the developed PTTBE-ETPTC scheme.