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Event-Triggered Adaptive Command Filtered Asymptotic Tracking Control for a Class of Flexible Robotic Manipulators. 2021 International Conference on Security, Pattern Analysis, and Cybernetics(SPAC). :353–359.
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2021. 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.