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Event-triggered control and communication for single-master multi-slave teleoperation systems with Try-Once-Discard protocol

Yuling Li, Chenxi Li, Kun Liu, Jie Dong, Rolf Johansson

TL;DR

This work tackles bandwidth limitations in single-master multi-slave teleoperation by integrating Try-Once-Discard scheduling with event-triggered control and communication, under time-varying delays and dynamic uncertainties. It introduces two adaptive, model-based schemes using virtual observers and discontinuous Lyapunov–Krasovskii analysis to achieve master–slave synchronization and formation maintenance, with Zeno behavior ruled out via LMIs. The authors provide static triggering conditions and show that, under certain LMIs, all signals remain bounded and critical errors converge to zero, even with disturbances in $\mathcal{L}_2 \cap \mathcal{L}_\infty$. The methods reduce network load without requiring velocity measurements, offering scalable, robust teleoperation suitable for large-scale, uncertain environments, as validated by experiments.

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 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.

Event-triggered control and communication for single-master multi-slave teleoperation systems with Try-Once-Discard protocol

TL;DR

This work tackles bandwidth limitations in single-master multi-slave teleoperation by integrating Try-Once-Discard scheduling with event-triggered control and communication, under time-varying delays and dynamic uncertainties. It introduces two adaptive, model-based schemes using virtual observers and discontinuous Lyapunov–Krasovskii analysis to achieve master–slave synchronization and formation maintenance, with Zeno behavior ruled out via LMIs. The authors provide static triggering conditions and show that, under certain LMIs, all signals remain bounded and critical errors converge to zero, even with disturbances in . The methods reduce network load without requiring velocity measurements, offering scalable, robust teleoperation suitable for large-scale, uncertain environments, as validated by experiments.

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 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.

Paper Structure

This paper contains 10 sections, 3 theorems, 65 equations, 3 figures, 2 algorithms.

Table of Contents

  1. Introduction
  2. Preliminaries and problem formulation
  3. Dynamic models
  4. Description of data transmission under communication constraints
  5. Problem formulation
  6. Main results
  7. Event-triggered control
  8. Event-triggered communication
  9. Discussion
  10. Conclusion

Key Result

Lemma 1

If there exist positive-definite matrices $Q_{i} \in \mathbb{R}^{n \times n}$, $U_{i} \in \mathbb{R}^{n \times n}$ and $P_{i} \in \mathbb{R}^{n \times n}$ such that the following linear-matrix-inequalities (LMIs) hold: then $V$ is positive in the sense that where $\dot{q}_s \triangleq \operatorname{col}\left\{\dot{q}_{s1}, \ldots, \dot{q}_{sN}\right\}$, $\dot{x}_s \triangleq \operatorname{col}\l

Figures (3)

  • Figure 1: The SMMS teleoperation system
  • Figure 2: The event-triggered control framework for the SMMS teleoperation system with the TOD scheduling protocol.
  • Figure 3: The control framework under the event-triggered communication for the SMMS teleoperation system with the TOD scheduling protocol.

Theorems & Definitions (12)

  • Definition 1
  • Lemma 1
  • proof
  • Theorem 1
  • proof
  • Remark 1
  • Remark 2
  • Theorem 2
  • proof
  • Remark 3
  • ...and 2 more