Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Manipulators Under Time-Varying Actuator Faults

doi:10.1109/JAS.2024.124266

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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
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2024
卷号	11 期号:5 页码:1190-1201
摘要	For 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.
关键词	Bipartite consensus tracking event-triggered control multiple manipulators neural networks time-varying actuator faults
DOI	10.1109/JAS.2024.124266
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/55708
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 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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