Abstract
This paper proposes a periodic event-triggered control (PETC) design applied to nonlinear robotic systems for joint space stabilization. The update of the control signal is based on a predefined triggering mechanism that periodically considers state measurements. So, continuous state measurements required in the continuous event-triggered control (CETC), are no longer needed in this proposal. The main advantages of the proposal are: 1) to assure the convergence of the closed-loop trajectories to a compact ball centered in the origin of the error space, and 2) the relaxation of continuous measurements for the evaluation of the event condition which implies a more suitable design for real-time implementation purposes. Experimental comparative results of the proposed design with a time-triggered control (TTC) scheme show that the PETC can present suitable performance with a significant reduction of 82.20% of the controller updates mainly given in the steady-state of the closed-loop system. This implies a decrement of the computation resources due to information transfer.
Highlights
Robotic manipulators are widely used in scientific research and engineering applications, due to their capability to accomplish assemblies, collect objects and manipulate materials, tools, and devices in an autonomous way through programming their movements
EXPERIMENTAL RESULTS a discussion about the periodic event-triggered control contrasted with a time-triggered control scheme is presented into a real scenario i.e., those controllers are applied to a real robotic platform
The periodic event-triggered control with the event function is obtained by considering the existence of a control-Lyapunov function
Summary
Robotic manipulators are widely used in scientific research and engineering applications, due to their capability to accomplish assemblies, collect objects and manipulate materials, tools, and devices in an autonomous way through programming their movements. Robust control strategies that can be adapted to the control and synchronization of robotic manipulators and underactuated systems [9], [14], [15], and output feedback tracking control subject to time-varying input delay and additive bounded disturbances [16]. Physical implementations are based on a digital system (computer-control approach) because of its versatility, low cost, robustness to noise, and ease of application [17]. Real-time implementations require high performance in computational resources and measurement systems for updating the control signal and accurately fulfilling the task; this method is known as ‘‘emulation’’. Emulation approaches [17], [18] to digital controller design use a timebased control scheme (time-triggered control (TTC)) because its design and analysis, based on sampled-data system theory, are often more simple. As the emulation approach requires a defined sampling period, a large number of redundant sampled data is needed even when the system
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