Disturbance Observer-Based Boundary Adaptive Event-Triggered Consensus Control of Multiple Flexible Manipulators

Abstract

In this article, we investigate the event-triggered consensus control approaches for multiple single-link flexible manipulators formulated by partial differential equations with time-varying boundary disturbances. By designing an event triggering mechanism based on switching thresholds, the controller can only be updated after the trigger conditions are met, thereby avoiding the waste of network resources. Under local communication conditions, a finite-time distributed observer is constructed to estimate the leader state of a flexible manipulator. Fuzzy logic systems are applied to identify unmodeled dynamics. Disturbance observers are designed to estimate mixed perturbations consisting of disturbances and estimation errors. Moreover, the proposed control method can ensure that all signals in the closed-loop system are bounded, the elastic deflection of each flexible manipulator can be suppressed, the angle achieves consensus control, and Zeno behavior is avoided. Finally, the feasibility of the proposed theory is verified by numerical examples.