Disturbance observer–based event-triggered tracking control of networked robot manipulator

Bu, Wei; Li, Ting; Yang, Jian; Yi, Yang

doi:10.1177/0020294020911084

Cited by 14 publications

(25 citation statements)

References 29 publications

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“…The ETC approach is also used in networked Euler-Lagrangian problem formulations. [15][16][17] An eventtriggered (ET) robust trajectory tracking control architecture is studied for a class of uncertain EL systems in Kumari et al 15 A fuzzy adaptive fault-tolerant ETC approach is studied in Diao et al 16 to satisfy the finitetime tracking of single-link flexible-joint robot systems. By utilizing an ETC approach in Bu et al, 17 the networked tracking problem is investigated for an RM subject to system uncertainties and external disturbance.…”

Section: Introductionmentioning

confidence: 99%

“…[15][16][17] An eventtriggered (ET) robust trajectory tracking control architecture is studied for a class of uncertain EL systems in Kumari et al 15 A fuzzy adaptive fault-tolerant ETC approach is studied in Diao et al 16 to satisfy the finitetime tracking of single-link flexible-joint robot systems. By utilizing an ETC approach in Bu et al, 17 the networked tracking problem is investigated for an RM subject to system uncertainties and external disturbance. However, a single RM problem formulation is considered in Kumari et al, 15 Diao et al, 16 and Bu et al 17 and the cooperative performance of a networked MAS is not delved into.…”

Section: Introductionmentioning

confidence: 99%

“…By utilizing an ETC approach in Bu et al, 17 the networked tracking problem is investigated for an RM subject to system uncertainties and external disturbance. However, a single RM problem formulation is considered in Kumari et al, 15 Diao et al, 16 and Bu et al 17 and the cooperative performance of a networked MAS is not delved into.…”

Section: Introductionmentioning

confidence: 99%

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Event-triggered formation control of n-link networked stochastic robotic manipulators

Azarbahram

Pariz

Sistani

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article proposes an event-triggered control framework to satisfy the tracking formation performance for a group of uncertain non-linear n-link robotic manipulators. The robotic manipulators are configured as a multi-agent system and they communicate over a directed graph (digraph). Furthermore, the non-linear robotic manipulator-multi-agent systems are subject to stochastic environmental loads. By introducing extra virtual controllers in the final step of the backstepping design, a total number of n event-triggering mechanisms are introduced independently for each link of all the robotic manipulator agents to update the control inputs in a fully distributed manner. More precisely, the actuator of each link of a particular agent is capable of being updated independent of other link actuator updates. A rigorous proof of the convergence of all the closed-loop signals in probability is then given and the Zeno phenomenon is excluded for the control event-triggered architectures. The simulation experiments finally quantify the effectiveness of proposed approach in terms of reducing the number of control updates and handling the stochastic environmental loads.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Event-triggered formation control of n-link networked stochastic robotic manipulators

Azarbahram

Pariz

Sistani

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…Furthermore, it is utilized to decrease the transmissions over the network channel in the robotic domain (see refs. [39][40][41][42] for single-arm manipulators and [43,44] for mobile robots). The ET scheme with the multiple networked Euler-Lagrange systems is recently exploited [45][46][47][48].…”

Section: Introductionmentioning

confidence: 99%

Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Abbas

Dwivedy

2021

Robotica

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In this paper, an improved adaptive motion-force control approach is introduced to control the cooperative manipulators transporting a shared object under limited communication. The adaptive controller is designed based on the backstepping approach to control the motion of the handled object in the presence of uncertainties and external disturbances. Moreover, the force controller is established to maintain constant internal forces. An event-triggered (ET) mechanism is derived based on the Lyapunov analysis to deal with the bandwidth restrictions and maintain the system stability during the cooperative manipulation. The effectiveness of the proposed control scheme is investigated by comparing it with the existing variations of adaptive backstepping control (i.e., traditional and state augmented schemes). Moreover, the designed triggering mechanism is compared with different triggering conditions presented in the literature. The proposed control approach is further validated in a more realistic virtual robot experimentation platform (i.e., V-REP) using two SCORBOT-ER VPlus manipulators. From the TrueTime-based simulation runs, the proposed control scheme exhibits superior performance in tandem with efficient utilization of the network resources during the transportation task.

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“…It is essential for the stable operation of the manipulator systems to suppress external disturbances. In articles [17][18][19][20][21], the disturbance observers are designed to eliminate the influence of disturbances on the manipulator systems. Unfortunately, it is difficult to observe the disturbances in practical systems.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Bounded H Infinity Tracking Control of a Single-Joint Manipulator System with Input Saturation

chen

2021

Preprint

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Based on Lyapunov finite-time stability theory and backstepping strategy, we put forward a novel fixed-time bounded H infinity tracking control scheme for a single-joint manipulator system with input saturation. The main control objective is to maintain that the system output variable tracks the desired signal at fixed time. The advantages of this paper are the settling time of the tracking error converging to the origin is independent of the initial conditions, and its convergence speed is more faster. Meanwhile, bounded H infinity control is adopted to suppress the influence of the external disturbances on the controlled system. At the same time, the problem of input saturation control is considered, which effectively reduce the input energy consumption. Theoretical analysis shows that the tracking error of the closed-loop system converges to a small neighborhood of the origin within fixed time. In the end, a simulation example is presented to demonstrate the effectiveness of the proposed scheme.

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Disturbance observer–based event-triggered tracking control of networked robot manipulator

Cited by 14 publications

References 29 publications

Event-triggered formation control of n-link networked stochastic robotic manipulators

Event-triggered formation control of n-link networked stochastic robotic manipulators

Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Fixed-Time Bounded H Infinity Tracking Control of a Single-Joint Manipulator System with Input Saturation

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