机器人机械手的事件触发鲁棒控制

IF 0.5 4区工程技术 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC

Electronics and Communications in Japan Pub Date : 2024-11-20 DOI:10.1002/ecj.12463

Xiao-Xuan Zhao, Zi-Jiang Yang

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Event-Triggered Robust Control of Robot Manipulators

This paper proposes a new event-triggered robust control system for robot manipulators, based on two event-triggered mechanisms (ETMs), which lead to intermittent communication not only for the sensor-to-controller channel but also for the controller-to-actuator channel. The proposed control system enjoys the advantage of requiring fewer resources of data communication and less signal updating of the control actuators. The control performance of the proposed control system is analyzed based on the Lyapunov approach. Furthermore, the absence of the Zeno behavior in the triggering sequence is proved rigorously. Finally, experiments are carried out on a two-link robot manipulator system to support the theoretical results.

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来源期刊

Electronics and Communications in Japan 工程技术-工程：电子与电气

CiteScore

0.60

自引率

0.00%

发文量

审稿时长

6-12 weeks

期刊介绍： Electronics and Communications in Japan (ECJ) publishes papers translated from the Transactions of the Institute of Electrical Engineers of Japan 12 times per year as an official journal of the Institute of Electrical Engineers of Japan (IEEJ). ECJ aims to provide world-class researches in highly diverse and sophisticated areas of Electrical and Electronic Engineering as well as in related disciplines with emphasis on electronic circuits, controls and communications. ECJ focuses on the following fields: - Electronic theory and circuits, - Control theory, - Communications, - Cryptography, - Biomedical fields, - Surveillance, - Robotics, - Sensors and actuators, - Micromachines, - Image analysis and signal analysis, - New materials. For works related to the science, technology, and applications of electric power, please refer to the sister journal Electrical Engineering in Japan (EEJ).