Reduced-Order GPIO Based Dynamic Event-Triggered Tracking Control of a Networked One-DOF Link Manipulator Without Velocity Measurement
文献类型：期刊论文
| 作者 | Jiankun Sun; Jun Yang; Shihua Li |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:3页码:725-734 |
| 关键词 | Dynamic event-triggering mechanism (DETM) external disturbance and system uncertainties networked robot manipulator reduced-order generalized proportional-integral observer (GPIO) robust control |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2019.1911738 |
| 英文摘要 | In networked robot manipulators that deeply integrate control, communication and computation, the controller design needs to take into consideration the limited or costly system resources and the presence of disturbances/uncertainties. To cope with these requirements, this paper proposes a novel dynamic event-triggered robust tracking control method for a one-degree of freedom (DOF) link manipulator with external disturbance and system uncertainties via a reduced-order generalized proportional-integral observer (GPIO). By only using the sampled-data position signal, a new sampled-data robust output feedback tracking controller is proposed based on a reduced-order GPIO to attenuate the undesirable influence of the external disturbance and the system uncertainties. To save the communication resources, we propose a discrete-time dynamic event-triggering mechanism (DETM), where the estimates and the control signal are transmitted and computed only when the proposed discrete-time DETM is violated. It is shown that with the proposed control method, both tracking control properties and communication properties can be significantly improved. Finally, simulation results are shown to demonstrate the feasibility and efficacy of the proposed control approach. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42983]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Jiankun Sun,Jun Yang,Shihua Li. Reduced-Order GPIO Based Dynamic Event-Triggered Tracking Control of a Networked One-DOF Link Manipulator Without Velocity Measurement[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):725-734. |
| APA | Jiankun Sun,Jun Yang,&Shihua Li.(2020).Reduced-Order GPIO Based Dynamic Event-Triggered Tracking Control of a Networked One-DOF Link Manipulator Without Velocity Measurement.IEEE/CAA Journal of Automatica Sinica,7(3),725-734. |
| MLA | Jiankun Sun,et al."Reduced-Order GPIO Based Dynamic Event-Triggered Tracking Control of a Networked One-DOF Link Manipulator Without Velocity Measurement".IEEE/CAA Journal of Automatica Sinica 7.3(2020):725-734. |
入库方式： OAI收割
来源：自动化研究所
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