Event-Triggered Finite-Time Variable Gain ADRC for Master-Slave Teleoperated Parallel Manipulators

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.