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Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters

文献类型：期刊论文

作者Ji, Yidao4; Zheng, Suiwu1,2,3
刊名SENSORS
出版日期2021-03-01
卷号21期号:6页码:20
关键词distributed filtering flexible manipulator event-triggered filtering semi-Markov parameters
DOI10.3390/s21062058
通讯作者Zheng, Suiwu(suiwu.zheng@ia.ac.cn)
英文摘要In this paper, the passive filtering problem of flexible robotic manipulator is investigated over sensor networks in a distributed manner from the control system perspective. The sensor networks are adopted to estimate true states of flexible robotic manipulator. In particular, the semi-Markov model is utilized for flexible manipulators with varying loads in unstructured environment, which is more flexible for practical implementations. Moreover, the new mode-dependent event-triggering mechanism is developed for distributed filter communications. Based on model transformation, sufficient conditions are first established to guarantee prescribed passive performance under disturbances. Then, desired mode-dependent filters are developed with the aid of convex optimization. In the end, several simulations results of a single-link flexible robotic manipulator are provided to verify the usefulness of the developed filtering algorithm.
WOS关键词ROBOTIC MANIPULATORS ; ADAPTIVE-CONTROL ; H-INFINITY ; SYSTEMS
资助项目National Key Research and Development Program of China[2020AAA0105900] ; Huizhou Science and Technology Project[2020SB0106006] ; Zhongkai Science and Technology Project[20201218A002]
WOS研究方向Chemistry ; Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000652711500001
出版者MDPI
资助机构National Key Research and Development Program of China ; Huizhou Science and Technology Project ; Zhongkai Science and Technology Project
源URL[http://ir.ia.ac.cn/handle/173211/44675]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Zheng, Suiwu
作者单位1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.95 East Zhongguancun Rd, Beijing 100000, Peoples R China
3.Huizhou Zhongke Adv Mfg Res Ctr Co Ltd, Huizhou 516000, Peoples R China
4.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
推荐引用方式
GB/T 7714		 Ji, Yidao,Zheng, Suiwu. Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters[J]. SENSORS,2021,21(6):20.
APA Ji, Yidao,&Zheng, Suiwu.(2021).Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters.SENSORS,21(6),20.
MLA Ji, Yidao,et al."Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters".SENSORS 21.6(2021):20.

入库方式： OAI收割

来源：自动化研究所

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