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Event-Triggered Adaptive Finite-Time Tracking Control for Robot Manipulators with Full-State Constraints

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Proceedings of 2023 Chinese Intelligent Systems Conference (CISC 2023)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1089))

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Abstract

This article presents a novel event-triggered adaptive finite-time tracking control scheme for robot manipulators with full-state constraints, a command filtered backstepping strategy is utilized, the filtering error is eliminated by the error compensation mechanism. The adaptive fuzzy control technique is used to deal with the unknown nonlinearities. Then, the finite-time control is employed to improve the steady-state performance of the system. Moreover, system communication burden is efficiently reduced by the relative event-triggered control, and all system state will be constrainted due to barrier Lyapunov functions. Finally, a single-link manipulator simulation is shown to validate the effectiveness of the method.

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Acknowledgements

This work was supported by the Science and Technology Support Plan for Youth Innovation of Universities in Shandong Province (2019KJN033), and the Natural Science Foundation of Shandong Province (ZR2021MF046).

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Authors and Affiliations

  1. Qingdao University, Qingdao, 266000, China

    Cong Li, Zhiguo Xu & Lin Zhao

Authors
  1. Cong Li
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  2. Zhiguo Xu
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  3. Lin Zhao
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Corresponding author

Correspondence to Lin Zhao .

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Editors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China

    Yingmin Jia

  2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  3. School of Mechanical Engineering and Automation, Beihang University, Beijing, China

    Yongling Fu

  4. Ningbo Institute of Materials Technology&Engineering, Chinese Academy of Sciences, Ningbo, Zhejiang, China

    Jiqiang Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Li, C., Xu, Z., Zhao, L. (2023). Event-Triggered Adaptive Finite-Time Tracking Control for Robot Manipulators with Full-State Constraints. In: Jia, Y., Zhang, W., Fu, Y., Wang, J. (eds) Proceedings of 2023 Chinese Intelligent Systems Conference. CISC 2023. Lecture Notes in Electrical Engineering, vol 1089. Springer, Singapore. https://doi.org/10.1007/978-981-99-6847-3_36

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