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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.02072 |
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| _version_ | 1866915530853580800 |
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| author | Li, Yuling Li, Chenxi Liu, Kun Dong, Jie Johansson, Rolf |
| author_facet | Li, Yuling Li, Chenxi Liu, Kun Dong, Jie Johansson, Rolf |
| contents | Single-master multi-slave (SMMS) teleoperation systems can perform multiple tasks remotely in a shorter time, cover large-scale areas, and adapt more easily to single-point failures, thereby effectively encompassing a broader range of applications. As the number of slave manipulators sharing a communication network increases, the limitation of communication bandwidth becomes critical. To alleviate bandwidth usage, the Try-Once-Discard (TOD) scheduling protocol and event-triggered mechanisms are often employed separately. In this paper, we combine both strategies to optimize network bandwidth and energy consumption for SMMS teleoperation systems. Specifically, we propose event-triggered control and communication schemes for a class of SMMS teleoperation systems using the TOD scheduling protocol. Considering dynamic uncertainties, the unavailability of relative velocities, and time-varying delays, we develop adaptive controllers with virtual observers based on event-triggered schemes to achieve master-slave synchronization. Stability criteria for the SMMS teleoperation systems under these event-triggered control and communication schemes are established, demonstrating that Zeno behavior is excluded. Finally, experiments are conducted to validate the effectiveness of the proposed algorithms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_02072 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Event-triggered control and communication for single-master multi-slave teleoperation systems with Try-Once-Discard protocol Li, Yuling Li, Chenxi Liu, Kun Dong, Jie Johansson, Rolf Systems and Control Single-master multi-slave (SMMS) teleoperation systems can perform multiple tasks remotely in a shorter time, cover large-scale areas, and adapt more easily to single-point failures, thereby effectively encompassing a broader range of applications. As the number of slave manipulators sharing a communication network increases, the limitation of communication bandwidth becomes critical. To alleviate bandwidth usage, the Try-Once-Discard (TOD) scheduling protocol and event-triggered mechanisms are often employed separately. In this paper, we combine both strategies to optimize network bandwidth and energy consumption for SMMS teleoperation systems. Specifically, we propose event-triggered control and communication schemes for a class of SMMS teleoperation systems using the TOD scheduling protocol. Considering dynamic uncertainties, the unavailability of relative velocities, and time-varying delays, we develop adaptive controllers with virtual observers based on event-triggered schemes to achieve master-slave synchronization. Stability criteria for the SMMS teleoperation systems under these event-triggered control and communication schemes are established, demonstrating that Zeno behavior is excluded. Finally, experiments are conducted to validate the effectiveness of the proposed algorithms. |
| title | Event-triggered control and communication for single-master multi-slave teleoperation systems with Try-Once-Discard protocol |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.02072 |