A Novel Passivity Criterion for Bilateral Teleoperation Under Event-triggered PD-like Control with Constant Time Delays

摘要

Bilateral teleoperation systems expand the capabilities of human spring from its telecommunication function. Majority of studies in bilateral teleoperation systems were investigated under continuous communication that easily caused traffic in communication channel. By utilizing PD-like controller, event-triggered mechanism is proposed for bilateral teleoperation system in this paper to solve congestion in channel. Velocity estimator is introduced to meet the demand of velocity information in PD-like controller and event-triggered mechanism. Through Lyapunov stability theory, the stability and position tracking performance of bilateral teleoperation system are ensured, and nonzero lower bound of adjacent triggering time is guaranteed. Finally, simulations are illustrated to validate the performance of the proposed teleoperation system.