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Control adaptativo por disparo de eventos para sistemas de teleoperación de múltiples robots

Hai Yang¹, Xia Liu¹, Chengyi Wan¹

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

ISA transactions

|January 31, 2026

Resumen

Este resumen es generado por máquina.

Este estudio presenta un control adaptativo por disparo de eventos para sistemas de teleoperación de un solo maestro y múltiples esclavos (SMMS). El método reduce la congestión de la red y mejora el rendimiento del control del robot mediante el ajuste dinámico de la transmisión de señales.

Palabras clave:

esquema adaptativo por disparo de eventos control cooperativo seguimiento de posición sistemas de teleoperación SMMS protocolo de programación

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Área de la Ciencia:

Robótica
Ingeniería de Sistemas de Control
Sistemas en Red

Sus antecedentes:

Los sistemas de teleoperación de un solo maestro y múltiples esclavos (SMMS) enfrentan desafíos significativos debido a la congestión de la red y la competencia por los recursos de comunicación.
Estos problemas pueden degradar el rendimiento y la estabilidad del sistema, limitando la aplicación práctica de la teleoperación SMMS.

Objetivo del estudio:

Proponer una estrategia de control adaptativo por disparo de eventos para sistemas de teleoperación SMMS.
Mejorar la estabilidad del sistema y el rendimiento del seguimiento de posición, al tiempo que se mitiga la congestión de la red y la competencia por los recursos de comunicación.

Principales métodos:

Un esquema adaptativo por disparo de eventos que utiliza las señales de posición y velocidad del robot con un umbral dinámico para controlar la frecuencia de disparo.
Un protocolo de programación que prioriza la transmisión de señales del robot esclavo en función de tres estados de disparo.
Un controlador cooperativo que integra las señales del maestro y del esclavo para el control del sistema.

Principales resultados:

El control adaptativo por disparo de eventos propuesto reduce eficazmente la congestión de la red y la competencia por los recursos de comunicación.
Se demuestra la estabilidad garantizada del sistema y la convergencia del error de seguimiento de posición utilizando funciones de Lyapunov.
Las simulaciones validaron la efectividad de la estrategia de control propuesta.

Conclusiones:

El control adaptativo por disparo de eventos desarrollado garantiza una estabilidad robusta y un seguimiento de posición preciso en sistemas de teleoperación SMMS.
Este enfoque ofrece una solución viable para superar las limitaciones de la red en entornos complejos de teleoperación.
El método alivia significativamente la congestión de la red, allanando el camino para operaciones SMMS más confiables y eficientes.