Adaptive event-triggered control for teleoperation with time-varying delay

In order to minimize the negative impact of communication network bandwidth limitation on teleoperation system, this paper proposes an adaptive event-triggered mechanism under variable time delay conditions. In contrast to general event-triggered mechanisms, the adaptive event-triggered mechanism proposed in this paper takes the joint speed of the robotic arm as the variable of the triggering threshold, and realizes the dynamic threshold that the triggering frequency changes with the speed of operation, thereby maximizing the use of limited network communication resources. The use of PD control for the robotic arm under this mechanism ensures master-slave synchronization. In this paper, the stability as well as the synchronization of the designed system is proved using the Lyapunov-Krasovsky function and the Zeno behavior is proved to be non-existent. An experiment is provided to illustrate the effectiveness of the proposed schemes.