Prescribed Performance Integral Sliding Control of Robot System with Event-Triggered Unknown System Dynamic Estimator

Abstract

In this paper, a prescribed performance integral sliding control approach based on the event-triggered unknown system dynamics estimator (ET-USDE) is proposed for robot system to obtain a satisfactory position tracking control error. The lumped dynamics including unknown system dynamics and external disturbances are estimated and compensated by ETUSDE. An event-triggered mechanism is employed into the ETUSDE, the communication burden of the robot system is reduced based on an event-based sampler. A tuning function is used in the prescribed performance integral sliding control design, enabling significant improvements in the control performance of the robot system. Through the Lyapunov analysis it can be ensured that the estimation error is uniformly ultimately bounded and that all signals are bounded as well. Finally, the satisfactory motion control performance with reduced sampling cost of the proposed method is validated through numerical simulations.