Abstract
In this study, a dynamic event-triggered control strategy was proposed for n-link flexible-joint robots with prescribed tracking performance and time delays. First, an adaptive fixed-time filter was designed to prevent “differential explosion”, and a given-time prescribed performance method was introduced. Then, an auxiliary system and Lyapunov–Krasovskii functionals were designed to compensate for input and full-state delays. After that, neural networks were introduced to handle the unknown dynamics and a dynamic event-triggered controller was designed. The closed-loop system was demonstrated fixed-time stability without Zeno behaviors. Finally, simulations were presented to confirm the effectiveness of the proposed scheme.
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