| Title | Event-Triggered Adaptive Fuzzy Asymptotic Tracking Control for Single Link Robot Manipulator with Prescribed Performance |
| Publication Type | Conference Paper |
| Year of Publication | 2021 |
| Authors | Hu, Xiaoyan, Li, Yuanxin |
| Conference Name | 2021 International Conference on Security, Pattern Analysis, and Cybernetics（SPAC) |
| Date Published | jun |
| Keywords | Adaptive systems, asymptotic tracking control, Brushes, control systems, Estimation, Event-triggered control, Fuzzy logic, fuzzy logic systems, integral equations, manipulators, Metrics, prescribed performance, pubcrawl, resilience, Resiliency, security |
| Abstract | In this paper, the adaptive event-triggered asymptotic tracking control with guaranteed performance for a single link robot manipulator (SLRM) system driven by the brush DC motor is studied. Fuzzy logic systems (FLS) is used to approximate unknown nonlinear functions. By introducing a finite time performance function (FTPF), the tracking error of the system can converge to the compact set of the origin in finite time. In addition, by introducing the smooth function and some positive integral functions, combined with the boundary estimation method and adaptive backstepping technique, the asymptotic tracking control of the system is realized. Meanwhile, event-triggered mechanism is introduced to reduce the network resources of the system. Finally, a practical example is given to prove the effectiveness of the theoretical research. |
| DOI | 10.1109/SPAC53836.2021.9539955 |
| Citation Key | hu_event-triggered_2021 |
Event-Triggered Adaptive Fuzzy Asymptotic Tracking Control for Single Link Robot Manipulator with Prescribed Performance