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

doi:10.1002/rnc.6332

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Observer-based event and self-triggered adaptive output feedback control of robotic manipulators
	Gao, Jie 1,4,5; He, Wei 3; Qiao, Hong 1,2,4
刊名	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
	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
DOI	10.1002/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.
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关键词	SYSTEMS
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
语种	英语
出版者	WILEY
WOS记录号	WOS:000847913700001
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
内容类型	期刊论文
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, CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai, Peoples R China 3.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China 4.Univ Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 5.Chinese Acad Sci, Inst Automat, Beijing Key Lab Res & Applicat Robot Intelligence, Beijing, 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.