Event Triggered Adaptive Robust Trajectory Tracking Control for Multi-joint Manipulators

doi:10.3969/j.issn.1000-1093.2019.08.024

Abstract

Abstract: For the multi-joint manipulator trajectory tracking control with uncertain disturbances and modelling errors, an event triggered controller is proposed based on adaptive robust control algorithm. The adaptive robust control algorithm is presented to ensure the trajectory tracking precision of multi-joint manipulator, and the adaptive term is used to deal with the uncertainty caused by uncertain disturbances and modelling errors. In the event triggered control framework, the current tracking errors and expected states are taken as inputs to define the state variables of event triggered control system, and Lyapunov stability theory is used to obtain the triggering condition,and no Zeno behaviours occur in the system. The control command is updated only when the triggering condition is satisfied, which can reduce the frequency of communication and computation, and improve the reliability. The semi-global uniform ultimate boundedness of multi-joint manipulator tracking control system is ensured, and the theoretical results are verified through simulation. Key

Key words: multi-jointmanipulator, trajectorytracking, event-basedcontrol, robustadaptive, semi-globaluniformultimateboundedness

CLC Number:

TP241.3

QIAN Qian, ZHANG Aihua, SUN Yixia. Event Triggered Adaptive Robust Trajectory Tracking Control for Multi-joint Manipulators[J]. Acta Armamentarii, 2019, 40(8): 1732-1739.

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第40卷
第8期2019 年8月兵工学报ACTA
ARMAMENTARIIVol.40No.8Aug.2019

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