{"title":"Master–slaves synchronization of teleoperation systems with the Try‐Once‐Discard protocol under event‐triggered communication","authors":"Yuling Li, Chenxi Li, Jie Dong, Haijuan Wang","doi":"10.1002/asjc.3458","DOIUrl":null,"url":null,"abstract":"In this paper, a class of single‐master‐multiple‐slaves (SMMS) bilateral teleoperation systems with the limitation of communication bandwidth is investigated. The signals are exchanged between the master and the slaves through delayed communication. Besides, to avoid data collisions, the Try‐Once‐Discard (TOD) scheduling protocol is utilized to decide which slave gets the network access at each triggered instant. A control algorithm with the event‐triggered mechanism is proposed to ensure the master–slaves synchronization. Furthermore, the closed‐loop system's stability criterion associated with the controller gains, the varying time delays' bounds, and the maximum transmission interval is established on the basis of the Lyapunov–Krasovskii analysis. Finally, the presented algorithm's performance is demonstrated by the simulation and experiment results.","PeriodicalId":55453,"journal":{"name":"Asian Journal of Control","volume":"23 1","pages":""},"PeriodicalIF":2.7000,"publicationDate":"2024-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Asian Journal of Control","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1002/asjc.3458","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, a class of single‐master‐multiple‐slaves (SMMS) bilateral teleoperation systems with the limitation of communication bandwidth is investigated. The signals are exchanged between the master and the slaves through delayed communication. Besides, to avoid data collisions, the Try‐Once‐Discard (TOD) scheduling protocol is utilized to decide which slave gets the network access at each triggered instant. A control algorithm with the event‐triggered mechanism is proposed to ensure the master–slaves synchronization. Furthermore, the closed‐loop system's stability criterion associated with the controller gains, the varying time delays' bounds, and the maximum transmission interval is established on the basis of the Lyapunov–Krasovskii analysis. Finally, the presented algorithm's performance is demonstrated by the simulation and experiment results.
期刊介绍：
The Asian Journal of Control, an Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) affiliated journal, is the first international journal originating from the Asia Pacific region. The Asian Journal of Control publishes papers on original theoretical and practical research and developments in the areas of control, involving all facets of control theory and its application.
Published six times a year, the Journal aims to be a key platform for control communities throughout the world.
The Journal provides a forum where control researchers and practitioners can exchange knowledge and experiences on the latest advances in the control areas, and plays an educational role for students and experienced researchers in other disciplines interested in this continually growing field. The scope of the journal is extensive.
Topics include:
The theory and design of control systems and components, encompassing:
Robust and distributed control using geometric, optimal, stochastic and nonlinear methods
Game theory and state estimation
Adaptive control, including neural networks, learning, parameter estimation
and system fault detection
Artificial intelligence, fuzzy and expert systems
Hierarchical and man-machine systems
All parts of systems engineering which consider the reliability of components and systems
Emerging application areas, such as:
Robotics
Mechatronics
Computers for computer-aided design, manufacturing, and control of
various industrial processes
Space vehicles and aircraft, ships, and traffic
Biomedical systems
National economies
Power systems
Agriculture
Natural resources.
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