Knowledge Commons of Institute of Automation,CAS
Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication | |
Ji, Yidao1; Wu, Wei2![]() ![]() | |
发表期刊 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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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 | |
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. |
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