Event-triggered control for bilateral teleoperation with time delays

Shin Chen Hu, Chen Yu Chan, Yen Chen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes an event-triggered control framework for bilateral teleoperation systems to achieve position tracking under unreliable communication network. With the use of adaptive control and scattering transformation, the passive framework for the master and slave robot are extended to system under non-periodic triggering. By using event-triggered strategy, robotic information is updated and transmitted to another robot only when the triggering conditions are satisfied. Stability and tracking performance are addressed in this paper with the proof of inter-event time. Subsequently, numerical simulations are presented to demonstrate the performance of the presented event-triggered control framework for bilateral teleoperation.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1634-1639
Number of pages6
ISBN (Electronic)9781509020652
DOIs
Publication statusPublished - 2016 Sep 26
Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
Duration: 2016 Jul 122016 Jul 15

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2016-September

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
CountryCanada
CityBanff
Period16-07-1216-07-15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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