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Event-Triggered Control and Communication for Single-Master Multislave Teleoperation Systems With Try-Once-Discard Protocol

Li, Yuling ; Li, Chenxi ; Liu, Kun ; Dong, Jie and Johansson, Rolf LU orcid (2025) In IEEE Transactions on Cybernetics
Abstract
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 article, 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... (More)
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 article, 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. (Less)
Please use this url to cite or link to this publication:
author
; ; ; and
organization
publishing date
type
Contribution to journal
publication status
epub
subject
keywords
Event-triggered communication, Event-triggered control, scheduling protocol, Teleoperation systems
in
IEEE Transactions on Cybernetics
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • pmid:41187044
  • scopus:105020879667
ISSN
2168-2267
DOI
10.1109/TCYB.2025.3621182
project
RobotLab LTH
UAS@LU: Autonomous Flight
language
English
LU publication?
yes
id
4b4da341-fc77-46ab-a1a4-63ddc38d44b6
date added to LUP
2025-12-16 13:06:49
date last changed
2026-01-14 09:37:40
@article{4b4da341-fc77-46ab-a1a4-63ddc38d44b6,
  abstract     = {{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<br/>applications. As the number of slave manipulators sharing a communication<br/>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 article, we combine both strategies to optimize network bandwidth and<br/>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,<br/>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<br/>proposed algorithms.}},
  author       = {{Li, Yuling and Li, Chenxi and Liu, Kun and Dong, Jie and Johansson, Rolf}},
  issn         = {{2168-2267}},
  keywords     = {{Event-triggered communication; Event-triggered control; scheduling protocol; Teleoperation systems}},
  language     = {{eng}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE Transactions on Cybernetics}},
  title        = {{Event-Triggered Control and Communication for Single-Master Multislave Teleoperation Systems With Try-Once-Discard Protocol}},
  url          = {{http://dx.doi.org/10.1109/TCYB.2025.3621182}},
  doi          = {{10.1109/TCYB.2025.3621182}},
  year         = {{2025}},
}