Observer-based event and self-triggered adaptive output feedback control of robotic manipulators

doi:10.1002/rnc.6332

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

	Observer-based event and self-triggered adaptive output feedback control of robotic manipulators
	Gao, Jie1,2,3 ; He, Wei 4; Qiao, Hong1,3,5
发表期刊	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN	1049-8923
	2022-08-31
页码	32
通讯作者	Qiao, Hong(hong.qiao@ia.ac.cn)
摘要	This article investigates the event and self-triggered adaptive output feedback control of a manipulator suffering from limited knowledge of states and dynamics, to realize the trajectory tracking with less communication occupation. In this control scheme, the configuration of co-located observer and controller with discontinued output feedback is considered. To guarantee the convergence of observation and control errors with few events as much as possible, an adaptive event-triggered mechanism based on model estimation is constructed to compensate for the error accumulation produced by the intermittent open-loop. Based on the model state, adaptive backstepping method with network estimation is used for deriving the controller, to solve the control stability under uncertainty of system dynamics. Aiming at removing the "derivative explosion and singularity" of discontinuous virtual signal, a first-order filter is incorporated to get the smooth approximation of the virtual signal, and an additional self-adaption signal is designed for the filtering error compensation. In view of the state updating at event instants, a gradual updating method is designed such that the state jumping-induced chattering instability could be handled. With the above designed method, a dead-zone event-triggered condition with the relative threshold and variable tolerance boundary is built to avoid Zeno-behavior. Furthermore, an easy-implemented self-triggered mechanism is also constructed. Finally, the Lyapunov function is utilized to derive the setting principle for the stability of the system, and the simulation is given to show the validity of the proposed control method.
关键词	first-order filter impulsive dynamical system model-based event-triggered control neural network nonlinear uncertainty observer estimation robotic manipulator
DOI	10.1002/rnc.6332
关键词[WOS]	SYSTEMS
收录类别	SCI
语种	英语
资助项目	National Key Research and Development Program of China[2017YFB1300200] ; National Key Research and Development Program of China[2017YFB1300203] ; National Natural Science Foundation of China[91648205] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[91948303] ; Strategic Priority Research Program of Chinese Academy of Science[XD-B32050100]
项目资助者	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Science
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号	WOS:000847913700001
出版者	WILEY
引用统计	被引频次：4[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/173211/50009
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	Qiao, Hong
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing Key Lab Res & Applicat Robot Intelligence, Beijing, Peoples R China 3.Univ Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 4.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China 5.Chinese Acad Sci, CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai, Peoples R China
第一作者单位	中国科学院自动化研究所
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	Gao, Jie,He, Wei,Qiao, Hong. Observer-based event and self-triggered adaptive output feedback control of robotic manipulators[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2022:32.
APA	Gao, Jie,He, Wei,&Qiao, Hong.(2022).Observer-based event and self-triggered adaptive output feedback control of robotic manipulators.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,32.
MLA	Gao, Jie,et al."Observer-based event and self-triggered adaptive output feedback control of robotic manipulators".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2022):32.