Master–slaves synchronization of teleoperation systems with the Try‐Once‐Discard protocol under event‐triggered communication

IF 2.7 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control Pub Date : 2024-07-10 DOI:10.1002/asjc.3458

Yuling Li, Chenxi Li, Jie Dong, Haijuan Wang

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.

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在事件触发通信条件下，利用 "尝试-一次-丢弃 "协议实现远程操纵系统的主从同步

本文研究了一类受通信带宽限制的单主多从（SMMS）双边远程操纵系统。主站和从站之间通过延迟通信交换信号。此外，为了避免数据碰撞，还采用了 "尝试-一次-丢弃"（TOD）调度协议来决定哪个从站在每个触发瞬间获得网络访问权。为确保主从同步，还提出了一种具有事件触发机制的控制算法。此外，在 Lyapunov-Krasovskii 分析的基础上，建立了与控制器增益、变化时间延迟边界和最大传输间隔相关的闭环系统稳定性准则。最后，通过仿真和实验结果证明了所提出算法的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Asian Journal of Control 工程技术-自动化与控制系统

CiteScore

4.80

自引率

25.00%

发文量

253

审稿时长

7.2 months

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.