Event-triggered control for adaptive bilateral teleoperators with communication delays

Shin Chen Hu, Yen Chen Liu

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Bilateral teleoperation systems have been widely applied for human operators to manipulate slave robots in accomplishing various tasks within remote environments. However, most teleoperation systems developed previously have heavily relied on continuous communication or a network with higher sampling rates. In this study, the authors propose novel control schemes to guarantee stability and tracking performance of bilateral teleoperation by considering an event-based transmission. Based on local output signals and the proposed triggering mechanisms, the master and slave robots transmit signals over a communication network only when the triggering conditions are satisfied. An event-triggered coordinating controller is presented to guarantee stability and position tracking for non-linear teleoperators. Input-to-state stability of the proposed teleoperation system with bounded external forces is studied with guaranteed static force reflection. Subsequently, a transformation-based framework is addressed with the event-triggered coordinating control to cope with bilateral teleoperation systems under time delays. The Zeno behaviour is demonstrated to be excluded in the proposed event-triggered teleoperation systems. Numerical examples and experiments are presented to discuss the efficacy of the proposed event-triggered teleoperation systems.

Original languageEnglish
Pages (from-to)427-437
Number of pages11
JournalIET Control Theory and Applications
Issue number3
Publication statusPublished - 2020 Feb 12

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering


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