Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication

doi:10.1177/1729881420939864

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication
	Ji, Yidao 1; Wu, Wei2 ; Fu, Hang 3; Qiao, Hong2
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN	1729-8814
	2021-03-01
卷号	18 期号:2 页码:9
通讯作者	Wu, Wei(wei.wu@ia.ac.cn)
摘要	In this article, the networked filtering problem for a class of robotic manipulators with semi-Markov type parameters is investigated under the passivity framework. In particular, the mode-dependent quantization and event-triggered communication scheme are both proposed for increasing the network transmission efficiency. Sufficient stability conditions are first derived by choosing mode-dependent Lyapunov-Krasovskii functionals. Then, the mode-dependent filter gains and the event-triggering parameters are further designed with the help of matrix convex optimization. In the end, a simulation example is provided such that the effectiveness of the proposed filtering method can be well demonstrated.
关键词	Semi-Markov manipulator networked filtering mode-dependent quantization mode-dependent event-triggered communication
DOI	10.1177/1729881420939864
收录类别	SCI
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000629372500001
出版者	SAGE PUBLICATIONS INC
七大方向——子方向分类	智能机器人
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/44064
专题	多模态人工智能系统全国重点实验室_机器人理论与应用
通讯作者	Wu, Wei
作者单位	1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 3.Univ Sci & Technol Beijing, Sch Mech Engn, Beijing, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Ji, Yidao,Wu, Wei,Fu, Hang,et al. Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18(2):9.
APA	Ji, Yidao,Wu, Wei,Fu, Hang,&Qiao, Hong.(2021).Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18(2),9.
MLA	Ji, Yidao,et al."Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18.2(2021):9.