Event‐triggered adaptive fault‐tolerant vibration control for a flexible robotic manipulator based on the partial differential equation model

Abstract

Summary This study investigates the event‐triggered adaptive control issues of a flexible manipulator when the control system is implemented over a network. The flexible manipulator has two actuators, which receive signals from the controller through the communication network. Given the limited communication problem of network and potential actuator failures, an event‐triggered adaptive fault‐tolerant controller is proposed based on the partial differential equation model. In our design, two event‐triggering mechanisms are introduced to avoid continuous signal transmission from the controller to the actuator. Then, an adaptive law using the projection mapping operator is designed to compensate for the impact of actuator failures. By employing the proposed control scheme, angular position tracking and vibration elimination can be achieved while reducing signal transmission, regardless of actuator failure. All closed‐loop signals are proved to be uniformly ultimately bounded. The control performance is demonstrated by numerical simulations.

Event‐triggered distributed model predictive control scheme for temperature regulation in multi‐zone air conditioning systems with improved indoor thermal preference indicator

“…At time k, the l-ahead predictions of the state interaction vector Σ l s=1 Σ j∈N i A l−s ii A ij xj (k + s − 1|k) can be estimated based on the past information and the exchanged state information among the MPC controllers, then the predicted process output sequence (24) of the i-th subsystem Σ i can be obtained. For l = 1, 2, … , P, the stacked state and output predictions take the form…”

“…Consequently, it is important to analyze when computation and communication of the DMPC controllers are necessary to achieve satisfactory system performance while reducing unnecessary waste of limited resources. Over the past decades, event‐triggered control mechanism have shown their communication efficiency and promising performance in many areas, where the update of the controllers and the critical information exchange among the controllers will not be performed until some pre‐designed events occur 24‐26 . Though numerous results have been reported for various systems with different dynamics, only very limited attention has been paid to the event‐triggered control mechanism under the DMPC framework in the research domain 27,28 .…”

“…Over the past decades, event-triggered control mechanism have shown their communication efficiency and promising performance in many areas, where the update of the controllers and the critical information exchange among the controllers will not be performed until some pre-designed events occur. [24][25][26] Though numerous results have been reported for various systems with different dynamics, only very limited attention has been paid to the event-triggered control mechanism under the DMPC framework in the research domain. 27,28 Moreover, how to design a simple event-triggered DMPC strategy for multi-zone A/C system to ensure its tracking performance remains open and challenge, which is of important practical application interests.…”