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Fixed-time control of teleoperation systems based on adaptive event-triggered communication and force estimators

Published online by Cambridge University Press:  16 September 2024

Xia Liu Open the ORCID record for Xia Liu [Opens in a new window]  and
Hui Wen
Xia Liu*
Affiliation:
School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China
Hui Wen
Affiliation:
School of Electrical Engineering and Electronic Information, Xihua University, Chengdu, China
*
Corresponding author: Xia Liu; Email: [email protected]
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Abstract

A fixed-time control strategy based on adaptive event-triggered communication and force estimators is proposed for a class of teleoperation systems with time-varying delays and limited bandwidth. Two force estimators are designed to estimate the operator force and environment force instead of force sensors. With the position, velocity, force estimate signals, and triggering error, an adaptive event-triggered scheme is designed, which automatically adjusts the triggering thresholds to reduce the access frequency of the communication network. With the state information transmitted at the moment of event triggering while considering the time-varying delays, a fixed-time sliding mode controller is designed to achieve the position and force tracking. The stability of the system and the convergence of tracking error within a fixed time are mathematically proved. Experimental results indicate that the control strategy can significantly reduce the information transmission, enhance the bandwidth utilization, and ensure the convergence of tracking error within a fixed time for teleoperation systems.

Keywords

teleoperation systemscommunication networkadaptive event triggeringforce estimatorsfixed-time control
Type
Research Article
Information
Robotica , Volume 42 , Issue 9 , September 2024 , pp. 3132 - 3148
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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