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Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Manipulators Under Time-Varying Actuator Faults
Xiangqian Yao; Hao Sun; Zhijia Zhao; Yu Liu
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2024
Volume11Issue:5Pages:1190-1201
AbstractFor bipartite angle consensus tracking and vibration suppression of multiple Timoshenko manipulator systems with time-varying actuator faults, parameter and modeling uncertainties, and unknown disturbances, a novel distributed boundary event-triggered control strategy is proposed in this work. In contrast to the earlier findings, time-varying consensus tracking and actuator defects are taken into account simultaneously. In addition, the constructed event-triggered control mechanism can achieve a more flexible design because it is not required to satisfy the input-to-state condition. To achieve the control objectives, some new integral control variables are given by using back-stepping technique and boundary control. Moreover, adaptive neural networks are applied to estimate system uncertainties. With the proposed event-triggered scheme, control inputs can reduce unnecessary updates. Besides, tracking errors and vibration states of the closed-looped network can be exponentially convergent into some small fields, and Zeno behaviors can be excluded. At last, some simulation examples are given to state the effectiveness of the control algorithms.
KeywordBipartite consensus tracking event-triggered control multiple manipulators neural networks time-varying actuator faults
DOI10.1109/JAS.2024.124266
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/55708
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Xiangqian Yao,Hao Sun,Zhijia Zhao,et al. Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Manipulators Under Time-Varying Actuator Faults[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(5):1190-1201.
APA Xiangqian Yao,Hao Sun,Zhijia Zhao,&Yu Liu.(2024).Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Manipulators Under Time-Varying Actuator Faults.IEEE/CAA Journal of Automatica Sinica,11(5),1190-1201.
MLA Xiangqian Yao,et al."Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Manipulators Under Time-Varying Actuator Faults".IEEE/CAA Journal of Automatica Sinica 11.5(2024):1190-1201.
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