Teleoperation Synchronization With Event-Triggered Fractional Sliding Mode
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Solution Overview
Problem
Teleoperation systems face challenges in high-precision control due to nonlinear coupling, uncertainties, and limited communication bandwidth, leading to energy wastage, computational redundancy, and resource inefficiency, especially in scenarios like telesurgery where frequent actuator responses and periodic updates are necessary.
Innovation Solution
A fractional order sliding mode synchronous control method based on an event trigger mechanism is introduced, which establishes a dynamic model considering external disturbances and parameter uncertainties, designs a self-adaptive fractional order nonsingular rapid terminal sliding mode controller, and sets trigger event conditions to reduce unnecessary updates and communication, thereby improving control precision and resource utilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If continuous time communication or intermittent communication protocols are used with periodic transmissions and updates, then the control target of the system is realized, but the actuator wear and aging accelerates and service life shortens
Solution Approach 1:
The patent applies event-triggered control mechanism that replaces periodic communication with event-based updates. The controller only transmits control information when specific triggering conditions are met, rather than following fixed periodic intervals. This reduces unnecessary actuator activations and extends service life while maintaining control effectiveness.
Solution Approach 2:
The system uses self-triggered control where the controller autonomously determines when updates are necessary based on predefined triggering conditions. This eliminates the need for continuous periodic communication and allows the system to serve itself by intelligently managing communication resources.
2Reliability
If continuous time communication or intermittent communication protocols are used with frequent signal transmissions and updates, then the control target of the system is realized, but computational processing resources are wasted and communication burden increases
Solution Approach 1:
The patent implements event-triggered control that replaces fixed periodic updates with conditional event-based updates. Control information is transmitted only when triggering conditions are satisfied, eliminating redundant computational processing and communication overhead while ensuring control targets are achieved.
Solution Approach 2:
The system extracts and transmits only the necessary control information when triggering conditions are met, rather than continuously transmitting all control signals. This reduces computational burden and communication load by eliminating unnecessary data transmissions.
3Reliability
If integer-order sliding mode control is used, then robustness against external interference is achieved, but the response speed and convergence speed are limited
Solution Approach 1:
The patent transitions from integer-order sliding mode control to fractional-order sliding mode control by changing the mathematical order parameter from integers to fractional values. This parameter change enables the system to achieve both robustness and faster response/convergence speeds by utilizing the additional degree of freedom provided by fractional calculus.
4Productivity
If fractional-order sliding mode control is used, then degree of freedom is expanded and convergence speed is improved, but controller complexity increases
Solution Approach 1:
The patent combines fractional-order sliding mode control with event-triggered control mechanism. The event-triggered component provides a structured framework that manages the complexity of fractional-order calculations by activating control updates only when necessary, thereby reducing overall computational burden while maintaining the speed benefits of fractional-order dynamics.
Data Source
AI summary
The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.