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Keywords = Zeno free execution

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27 pages, 3967 KiB  
Article
Adaptive Super-Twisting Tracking for Uncertain Robot Manipulators Based on the Event-Triggered Algorithm
by Yajun Ma, Hui Zhao and Tao Li
Sensors 2025, 25(5), 1616; https://doi.org/10.3390/s25051616 - 6 Mar 2025
Cited by 1 | Viewed by 655
Abstract
In this study, the authors present an event-triggered control scheme for uncertain robot manipulators combined with an adaptive super-twisting algorithm to handle uncertain robot manipulator systems with unknown external uncertainties and disturbances. The proposed controller can ensure the system-tracking performance while also guaranteeing [...] Read more.
In this study, the authors present an event-triggered control scheme for uncertain robot manipulators combined with an adaptive super-twisting algorithm to handle uncertain robot manipulator systems with unknown external uncertainties and disturbances. The proposed controller can ensure the system-tracking performance while also guaranteeing the robust stability of the system. First, an event-triggered adaptive super-twisting control (ETASTC) method for multivariable second-order nonlinear systems is proposed. In addition, unlike the implementation of periodic control, in the event-triggered method, the control signal is updated by the requirement of system stability, thus avoiding the frequent periodic execution of control tasks. Furthermore, through rigorous proof, the Zeno free execution of the triggering sequence is also ensured. Lastly, the proposed method is illustrated through numerical simulation and experimental study, and the results show that the computational cost is saved while also ensuring the desired performance of the robot system. Full article
(This article belongs to the Special Issue Dynamics and Control System Design for Robot Manipulation)
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