Edge-Based Event-Triggered Control for Collaborative Robot Systems

This article studies the problem of controlling a robot system with limited resources that enables robots to transfer a common object cooperatively in a demand-driven fashion. A simple yet effective event-triggered coordination strategy is proposed within an edge-based control framework. Specifically, event detection is performed independently on each communication edge involved in robot interactions, and the detection outcome determines whether a strategy update is necessary. Furthermore, a distributed solution is adopted for the collaborative robot systems, where each controller utilizes only local state information from the robot and its connected edges, eliminating the need for global variables. Compared with time-triggered control strategies, the proposed method operates without initiating frequent communication and state updates. Simulation results demonstrate that the proposed strategy strikes a balance between execution performance and resource consumption. Building upon this foundation, we further extend the existing results by incorporating a fuzzy control system to dynamically adjust the event-triggering parameters.