Reduced-order GPIO based dynamic event-triggered tracking control of a networked one-DOF link manipulator without velocity measurement

Abstract

In networked robot manipulators that deeply integrate control, communication and computation, the controller design needs to take into consideration the limited or costly system resources and the presence of disturbances / uncertainties. To cope with these requirements, this paper proposes a novel dynamic event-triggered robust tracking control method for a one-degree of freedom ( DOF ) link manipulator with external disturbance and system uncertainties via a reduced-order generalized proportional-integral observer ( GPIO ) . By only using the sampled-data position signal, a new sampled-data robust output feedback tracking controller is proposed based on a reduced-order GPIO to attenuate the undesirable influence of the external disturbance and the system uncertainties. To save the communication resources, we propose a discrete-time dynamic event-triggering mechanism ( DETM ) , where the estimates and the control signal are transmitted and computed only when the proposed discrete-time DETM is violated. It is shown that with the proposed control method, both tracking control properties and communication properties can be significantly improved. Finally, simulation results are shown to demonstrate the feasibility and efficacy of the proposed control approach.