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Observer-based event and self-triggered adaptive output feedback control of robotic manipulators

文献类型：期刊论文

作者Gao, Jie1,2,3; He, Wei4; Qiao, Hong1,3,5
刊名INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
出版日期2022-08-31
页码32
关键词first-order filter impulsive dynamical system model-based event-triggered control neural network nonlinear uncertainty observer estimation robotic manipulator
ISSN号1049-8923
DOI10.1002/rnc.6332
通讯作者Qiao, Hong(hong.qiao@ia.ac.cn)
英文摘要This article investigates the event and self-triggered adaptive output feedback control of a manipulator suffering from limited knowledge of states and dynamics, to realize the trajectory tracking with less communication occupation. In this control scheme, the configuration of co-located observer and controller with discontinued output feedback is considered. To guarantee the convergence of observation and control errors with few events as much as possible, an adaptive event-triggered mechanism based on model estimation is constructed to compensate for the error accumulation produced by the intermittent open-loop. Based on the model state, adaptive backstepping method with network estimation is used for deriving the controller, to solve the control stability under uncertainty of system dynamics. Aiming at removing the "derivative explosion and singularity" of discontinuous virtual signal, a first-order filter is incorporated to get the smooth approximation of the virtual signal, and an additional self-adaption signal is designed for the filtering error compensation. In view of the state updating at event instants, a gradual updating method is designed such that the state jumping-induced chattering instability could be handled. With the above designed method, a dead-zone event-triggered condition with the relative threshold and variable tolerance boundary is built to avoid Zeno-behavior. Furthermore, an easy-implemented self-triggered mechanism is also constructed. Finally, the Lyapunov function is utilized to derive the setting principle for the stability of the system, and the simulation is given to show the validity of the proposed control method.
WOS关键词SYSTEMS
资助项目National Key Research and Development Program of China[2017YFB1300200] ; National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China[91648205] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[91948303] ; Strategic Priority Research Program of Chinese Academy of Science[XD-B32050100]
WOS研究方向Automation & Control Systems ; Engineering ; Mathematics
语种英语
WOS记录号WOS:000847913700001
出版者WILEY
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Science
源URL[http://ir.ia.ac.cn/handle/173211/50008]  
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Qiao, Hong
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing Key Lab Res & Applicat Robot Intelligence, Beijing, Peoples R China
3.Univ Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
4.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China
5.Chinese Acad Sci, CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai, Peoples R China
推荐引用方式
GB/T 7714		 Gao, Jie,He, Wei,Qiao, Hong. Observer-based event and self-triggered adaptive output feedback control of robotic manipulators[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2022:32.
APA Gao, Jie,He, Wei,&Qiao, Hong.(2022).Observer-based event and self-triggered adaptive output feedback control of robotic manipulators.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,32.
MLA Gao, Jie,et al."Observer-based event and self-triggered adaptive output feedback control of robotic manipulators".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2022):32.

入库方式： OAI收割

来源：自动化研究所

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