| Title | Event-Triggered Adaptive Command Filtered Asymptotic Tracking Control for a Class of Flexible Robotic Manipulators |
| Publication Type | Conference Paper |
| Year of Publication | 2021 |
| Authors | Cheng, Tingting, Niu, Ben, Zhang, Guangju, Wang, Zhenhua |
| Conference Name | 2021 International Conference on Security, Pattern Analysis, and Cybernetics（SPAC) |
| Date Published | June 2021 |
| Publisher | IEEE |
| ISBN Number | 978-1-6654-4322-7 |
| Keywords | Adaptation models, Adaptive backstepping control, adaptive filtering, Adaptive systems, asymptotic tracking control, backstepping, Estimation, Event-triggered control, manipulators, Metrics, pubcrawl, resilience, Resiliency, robotic manipulators, Scalability, Systematics, Trajectory |
| Abstract | This work proposes an event-triggered adaptive asymptotic tracking control scheme for flexible robotic manipulators. Firstly, by employing the command filtered backstepping technology, the ``explosion of complexity'' problem is overcame. Then, the event-triggered strategy is utilized which makes that the control input is updated aperiodically when the event-trigger occurs. The utilized event-triggered mechanism reduces the transmission frequency of computer and saves computer resources. Moreover, it can be proved that all the variables in the closed-loop system are bounded and the tracking error converges asymptotically to zero. Finally, the simulation studies are included to show the effectiveness of the proposed control scheme. |
| URL | https://ieeexplore.ieee.org/document/9539951 |
| DOI | 10.1109/SPAC53836.2021.9539951 |
| Citation Key | cheng_event-triggered_2021 |
Event-Triggered Adaptive Command Filtered Asymptotic Tracking Control for a Class of Flexible Robotic Manipulators