TY - GEN
T1 - Event-triggered control for bilateral teleoperation with time delays
AU - Hu, Shin Chen
AU - Chan, Chen Yu
AU - Liu, Yen Chen
N1 - Funding Information:
This work was supported by the Ministry of Science and Technology, Taiwan, under Grant MOST 103-2221-E-006-182-MY3
Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84992395330
UR - https://www.scopus.com/pages/publications/84992395330#tab=citedBy
U2 - 10.1109/AIM.2016.7577004
DO - 10.1109/AIM.2016.7577004
M3 - Conference contribution
AN - SCOPUS:84992395330
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1634
EP - 1639
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -