In bilateral teleoperation systems, achieving fast position synchronization while maintaining high-communication efficiency represents an essential control objective. This article proposes a simplified control scheme with a finite-time proportional damping (FTP+d) injection method and an event-driven communication mechanism to address the challenge of position synchronization in time-delayed telerobotic systems. The system takes into account the asymmetric time-varying delays and external forces. First, a novel event-triggered strategy based on noninteger power is designed. With a designed error-velocity mixed variable, a new FTP+d controller is developed by employing a continuous nonsmooth function, a damping term, an adaptive term, and noninteger power. With the Lyapunov–Krasovskii (LK) method and the finite-time stability theory, the boundedness of the telerobot’s state is established, and the finite-time synchronization performance is analytically guaranteed. Furthermore, the relationships between controller parameters, time-varying delays, and system stability are also analyzed based on linear matrix inequality (LMI). Finally, both simulation and experimental investigations are conducted to evaluate the efficacy and performance of the proposed control approach.

This paper addresses the problem of motion prediction and tracking control for cloud robotic systems with time-varying delays in measurements. A novel method using an observer-based structure for position and velocity prediction is developed to estimate the real-time information of robot manipulator. The prediction error can converge to zero even if model uncertainties exist in the robot manipulator. Based on the predicted positions and velocities, some sufficient conditions are derived to design suitable tracking controllers such that semi-globally uniformly ultimately bounded tracking performance of the predictor–controller couple can be guaranteed. Finally, the effectiveness and robustness to model uncertainties of the proposed method are verified by a two degree-of-freedom (DOF) robot system.

The event-triggered predictor design problem for a class of nonlinear MIMO systems with large time delays is investigated in this paper. A periodic event-triggered mechanism is designed to avoid unnecessary data transmission and save communication energy. The triggering condition is only determined by sampled outputs of the system, such that it is applicable in case of the communication delay. Then a novel observer-based cascade predictor is proposed to reconstruct the original system state based on the delayed and event-triggered measurements, which is composed of a continuous-discrete observer and several sub-predictors in a chain structure. The stability of proposed predictor is analyzed through the Lyapunov approach. By using a sufficient number of sub-predictors and applying appropriate parameters, the prediction errors converge to bounded regions exponentially under large time delays. Finally, simulations are performed to verify the effectiveness of the proposed predictor and the event-triggered communication mechanism.