Fixed-time adaptive dynamic event-triggered control of flexible-joint robots with prescribed performance and time delays

被引：5
|
作者：
Li, Tandong [1 ,3 ]
Li, Shaobo [1 ,2 ]
机构：
[1] Guizhou Univ, Sch Mech Engn, Guiyang 550025, Peoples R China
[2] Guizhou Univ, State Key Lab Publ Big Data, Guiyang 550025, Peoples R China
[3] Guizhou Mt Agr Machinery Res Inst, Guiyang 550007, Peoples R China
来源：
ISA TRANSACTIONS | 2023年 / 140卷
关键词：
Dynamic event-triggered control; Adaptive fixed-time filters; Given-time prescribed performance; Time delays; N-link flexible-joint robot; SURFACE ASYMPTOTIC TRACKING; FEEDBACK NONLINEAR-SYSTEMS; FUNNEL CONTROL; UNCERTAINTY; MANIPULATOR; STABILITY;
D O I：
10.1016/j.isatra.2023.06.013
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, a dynamic event-triggered control strategy was proposed for n-link flexible-joint robots with prescribed tracking performance and time delays. First, an adaptive fixed-time filter was designed to prevent "differential explosion", and a given-time prescribed performance method was introduced. Then, an auxiliary system and Lyapunov-Krasovskii functionals were designed to compensate for input and full-state delays. After that, neural networks were introduced to handle the unknown dynamics and a dynamic event-triggered controller was designed. The closed-loop system was demonstrated fixed-time stability without Zeno behaviors. Finally, simulations were presented to confirm the effectiveness of the proposed scheme.(c) 2023 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：198 / 223
页数：26
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