Event-Triggered Finite-Time Variable Gain ADRC for Master–Slave Teleoperated Parallel Manipulators
Abstract
In this brief, an event-triggered finite time variable gain active disturbance rejection control method is proposed for master-slave teleoperated parallel manipulators with disturbances. The event-triggered finite time variable gain active disturbance rejection control incorporates error-based variable gains and event-triggered mechanisms to improve control performances and reduce communication burden, which includes event-triggered finite time variable gain extended state observer and event-triggered finite time variable gain controller. Furthermore, the explicit feasible solutions in the stability analysis are provided, and the steady-state performance is discussed. Moreover, the Zeno phenomenon is avoided by analyzing the minimum interevent interval. Finally, simulation results and experimental results are presented to demonstrate the effectiveness of the proposed method.
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The ESO component has been amended over time to accommodate ADRC operation in industrial applications, including robotic systems, power plants, teleoperation systems, and piezoelectric-related medical fields.
“Therefore, to mitigate the effects of different types of uncertainties acting on a concerned system, the ESO component has been amended over time to accommodate the ADRC operation in industrial applications; for example, in robotic systems [10], power plants [11], teleoperation systems [12], and piezoelectric-related medical fields [13].”
From A comparative study on time-delay estimation for time-delay nonlinear system control (2025) · cites this paper as [12]
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- Authors
- Gu, S., Zhang, J., & Liu, X.
- Affiliations
- Beijing Institute of Technology (CN)
- Venue
- IEEE Transactions on Circuits and Systems II: Express Briefs
- Published
- 2024-07
- Volume
- 71
- Issue
- 7
- Pages
- 3383-3387
- ISSN
- 1549-7747 (ISSN-L)
- 1558-3791
- OpenAlex
- W4391326592
- Cited by
- 7
- References
- 22
- Citations by year
- 2026: 2 · 2025: 4 · 2024: 1
- FWCI
- 0.94
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Circuits & Systems II Express Briefs (publishedVersion)
- Funders
- National Natural Science Foundation of China (U22A2048)
- Science and Technology Innovation Program of Beijing Institute of Technology, China (2022CX01009)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- event-triggered control, finite-time control, variable gain control, active disturbance rejection control, master-slave teleoperation, parallel manipulators, extended state observer, communication burden reduction, Zeno behavior avoidance, disturbance rejection
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