Integral adaptive event-triggered predefined-time control for robotic teleoperation systems

The tracking performance of robotic teleoperation systems is constrained by limited communication resources. To improve the communication efficiency and tracking accuracy, an integral adaptive event-triggered predefined-time control strategy is proposed. The integral adaptive event-triggered mechanism determines whether the master and slave robots need to update their data by evaluating the error integral between the current and previously triggered data, thereby reducing the communication network access frequency. Using the transmitted data at triggering moments, a predefined-time sliding mode controller is designed to ensure accurate position tracking between the master and slave. The stability of the overall system is proven and the superiority of the proposed strategy is verified via simulations. The proposed approach can significantly reduce information transmission and ensure that the position tracking error between the master and slave converges within a predefined time.