Abstract: Embodiments of this application provide a downlink control information transmission method in which after receiving one piece of downlink control information (DCI), the terminal device learns whether blind detection of DCI needs to be continued. The method includes: A terminal device receives first DCI, where the first DCI includes first indication information, and the first indication information is used to indicate a first antenna port. The terminal device determines, based on the first antenna port and antenna port configuration information, whether second DCI exists. The configuration information may include an index of a CDM group to which each of a plurality of antenna ports belongs and a maximum quantity of CDM groups that is supported by the terminal device. Alternatively the configuration information may include one or more antenna port groups, and each of the one or more antenna port groups includes one or more antenna ports.

Abstract: The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.

Abstract: The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.