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Event-Triggered Predefined-Time Sensorless Prescribed and Personalized Compliant Performance Control for Teleoperation Systems

Longnan Li et al.

IEEE Transactions on Cybernetics2026https://doi.org/10.1109/tcyb.2026.3650844article
AJG 3
Weight
0.37

What the paper says

In this study, we develop an event-triggered predefined-time sensorless prescribed and personalized compliant performance control scheme for teleoperation systems. In the absence of force/torque sensors, a predefined-time torque behavior estimator (PTTBE) is designed, and its estimated values are applied to both the admittance structure and the control law. Then, a variable stiffness parameter related to the operator's surface electromyography (sEMG) signal is incorporated into the admittance structure. By integrating the PTTBE, predefined-time sliding manifold, predefined-time performance function, and event-triggered mechanism involving time-scaling, error-scaling, and muscle activation-scaling functions, the PTTBE-based event-triggered predefined-time control (PTTBE-ETPTC) scheme is proposed. This scheme ensures that not only does the tracking error converge to a residual set within a predefined time regardless of the system's initial state, but also that the error constraints are not violated at any time. Compared with existing tracking control methods, the introduction of a variable stiffness parameter admittance structure, along with an event-triggered mechanism related to predefined-time parameters and a variable capable of reflecting the operator's intention, greatly enhances the system's flexibility, enabling a favorable balance between tracking performance for free motion and compliant performance for interaction/contact situations while reducing the control frequency. Simulations and experiments are carried out to demonstrate the effectiveness and practicality of the developed PTTBE-ETPTC scheme.

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https://doi.org/https://doi.org/10.1109/tcyb.2026.3650844

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@article{longnan2026,
  title        = {{Event-Triggered Predefined-Time Sensorless Prescribed and Personalized Compliant Performance Control for Teleoperation Systems}},
  author       = {Longnan Li et al.},
  journal      = {IEEE Transactions on Cybernetics},
  year         = {2026},
  doi          = {https://doi.org/https://doi.org/10.1109/tcyb.2026.3650844},
}

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Evidence weight

0.37

Balanced mode · F 0.40 / M 0.15 / V 0.05 / R 0.40

F · citation impact0.16 × 0.4 = 0.06
M · momentum0.53 × 0.15 = 0.08
V · venue signal0.50 × 0.05 = 0.03
R · text relevance †0.50 × 0.4 = 0.20

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