Fixed-time adaptive dynamic event-triggered control of flexible-joint robots with prescribed performance and time delays.
ISA TRANSACTIONS 2023;
140:198-223. [PMID:
37407372 DOI:
10.1016/j.isatra.2023.06.013]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/07/2022] [Revised: 06/15/2023] [Accepted: 06/15/2023] [Indexed: 07/07/2023]
Abstract
In this study, a dynamic event-triggered control strategy was proposed for n-link flexible-joint robots with prescribed tracking performance and time delays. First, an adaptive fixed-time filter was designed to prevent "differential explosion", and a given-time prescribed performance method was introduced. Then, an auxiliary system and Lyapunov-Krasovskii functionals were designed to compensate for input and full-state delays. After that, neural networks were introduced to handle the unknown dynamics and a dynamic event-triggered controller was designed. The closed-loop system was demonstrated fixed-time stability without Zeno behaviors. Finally, simulations were presented to confirm the effectiveness of the proposed scheme.
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