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Event-triggered based predefined-time tracking control for robotic manipulators with state and input quantization
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DOI：10.1007/s11071-024-10037-8.png)
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摘要
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This paper addresses the tracking control issue of robotic manipulators using sliding mode control (SMC) methods, emphasizing the requirement of predefined-time convergence for the first time, despite communication resource constraints. Static, event-based dynamic uniform quantizers and a logarithmic quantizer are utilized to ease the communication burden. By leveraging time-varying functions and Lyapunov theory, sufficient gain conditions are derived to ensure that the designed novel predefined-time quantized SMC methods are effective, even though the networked robotic manipulator is subject to external disturbances. Specifically, the tracking error and sliding variable are bounded within a predefined time, while the ability to adjust the convergence bound to a desired level and then have it asymptotically decay to zero is possessed. A series of digital simulations are conducted to substantiate the salient attributes of our approach.
Keyword:
Predefined-time convergence
Sliding mode control
Dynamic quantization
Event-triggered mechanism
Robotic manipulator
期刊
IF:
6
论文数:
1.4W
被引数:
4.1W
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