Distributed Event-Triggered Control for Manipulator with Fixed-Time Disturbance Observer
Abstract
:1. Introduction
- (1)
- To address the impact of total disturbance on the control system of a manipulator, this article designs a disturbance observer that can accurately reconstruct the lumped disturbance within a fixed time, independent of the system’s initial state. Additionally, unlike previous works in [10], restrictive assumptions such as the upper bound of the total disturbance being known or its time derivative converging are all relaxed.
- (2)
- The introduction of the event-triggering mechanism effectively conserves communication and computing resources. Specifically, within the framework of backstepping, a fixed-time controller for the manipulator based on the event-triggering mechanism is developed, which significantly reduces the transmission time of control inputs and the calculation time of control outputs.
- (3)
- By combining the event-triggering mechanism with fixed-time control theory, the controller can effectively leverage the benefits of ETC and FTC through the selection of an appropriate event-triggering parameter and control parameter which enables the manipulator to track the desired trajectory within a fixed time while conserving communication resources.
2. Preliminaries
2.1. Notations
2.2. Problem Formation
2.3. Lemmas
- (1)
- The origin of the closed-loop system (7) is fixed-time stable.
- (2)
- The upper bound of convergence time satisfies
- (1)
- .
- (2)
- for any satisfies the following inequality:
3. Controller Design
3.1. Observer Design
3.2. Controller Design
3.3. Zeno Behavior Exclusion
4. Simulation Research
5. Discussion
- (1)
- There is a positive connection between control input oscillation and event-triggering parameters.
- (2)
- The introduction of the ETC mechanism has caused more oscillations, and in practical applications, it is necessary to consider the balance between control input oscillations and reducing data transmission.
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
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Parameter | Description | Value |
---|---|---|
Mass of link 1 | ||
Mass of link 2 | ||
Length of link 1 | 0.35 m | |
Length of link 2 | 0.31 m | |
Moment of inertia of link 1 | ||
Moment of inertia of link 2 |
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Pan, J.; Zhang, G.; Wang, D.; Li, T. Distributed Event-Triggered Control for Manipulator with Fixed-Time Disturbance Observer. Symmetry 2024, 16, 426. https://doi.org/10.3390/sym16040426
Pan J, Zhang G, Wang D, Li T. Distributed Event-Triggered Control for Manipulator with Fixed-Time Disturbance Observer. Symmetry. 2024; 16(4):426. https://doi.org/10.3390/sym16040426
Chicago/Turabian StylePan, Jing, Gang Zhang, Duansong Wang, and Tianli Li. 2024. "Distributed Event-Triggered Control for Manipulator with Fixed-Time Disturbance Observer" Symmetry 16, no. 4: 426. https://doi.org/10.3390/sym16040426
APA StylePan, J., Zhang, G., Wang, D., & Li, T. (2024). Distributed Event-Triggered Control for Manipulator with Fixed-Time Disturbance Observer. Symmetry, 16(4), 426. https://doi.org/10.3390/sym16040426