OBSERVER-BASED DUAL-DYNAMIC EVENT-TRIGGERED MECHANISM DESIGN FOR BALANCE CONTROL OF MOTION ROBOTS

被引：0

作者：

Chen, Shouzhuan ^{[1
]}

Yang, Yiming ^{[1
]}

Zhu, Shuxian ^{[1
]}

Jiang, Baoping ^{[1
]}

机构：

[1] Suzhou Univ Sci & Technol, Sch Elect & Informat Engn, Suzhou 215000, Peoples R China

来源：

DISCRETE AND CONTINUOUS DYNAMICAL SYSTEMS-SERIES S | 2024年 / 17卷 / 09期

关键词：

Motion robots; networked control system; event-triggered mechanism; observer design; SYSTEMS;

D O I：

10.3934/dcdss.2024071

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

. This paper investigates the issue of observer-based dual-dynamic event-triggered scheme into networked control systems, focusing on its application to motion robots. Firstly, it establishes a mathematical model of the motion robot system based on Newtonian mechanics. Secondly, it introduces a dynamic event-triggering mechanism coupled with observer design to minimize data transmission and enhance communication efficiency. Thirdly, it implements a second dynamic event-triggering protocol for controller design, ensuring a positive lower bound for triggering event intervals, thus avoiding Zeno behavior. Fourthly, it constructs a Lyapunov function with internal dynamic variables for stability analysis using linear matrix inequalities. Finally, simulation studies validate the method's efficacy for motion robot systems.

引用

页码：2931 / 2946

页数：16

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