Event-Triggered Control for Trajectory Tracking by Robotic Manipulator

Kamboj, Ankur; Dhar, Narendra Kumar; Verma, Nishchal K.

doi:10.1007/978-981-13-1132-1_13

Cited by 4 publications

(1 citation statement)

References 29 publications

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“…Currently, the event-triggered control method has been widely studied. Aiming at a linear robot trajectory tracking system, the proportional-integral-differential (PID) control strategy with an event-triggered control strategy algorithm was adopted based on the precise model in [19]. In [20], an event-triggered control strategy for dealing with the network transmission delay was constructed.…”

Section: Introduction a Aims And Motivationmentioning

confidence: 99%

Distributed Event-Triggered Adaptive Coordinated Trajectory Tracking Control of Multi-USVs Based on the Aggregate Tracking Error

Zhang

2021

IEEE Access

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Aiming to solving the nonlinear coordinated trajectory tracking control problem of multi-USVs under the influence of slowly changing and uncertain environmental disturbances, reducing energy consumption and ensuring tracking performance and stability, a distributed event-triggered adaptive coordinated trajectory tracking controller (DET-ACTTC) for multiple unmanned surface vessels (multi-USVs) is proposed based on the undirected communication topology. By introducing a virtual leader, a leaderfollower formation is used to generate the coordinated tracking errors. Based on the expected formation and states, the aggregate tracking errors are defined, and event-triggered measurement errors are constructed to design the event-triggered conditions. An adaptive term is used to compensate for external environment disturbances, and the DET-ACTTC is deduced for each USV in the group. The tracking errors of the eventtriggered coordinated trajectory tracking control (ETCTTC) system gradually converge to zero, and Zeno behavior is avoided. The theoretical results are verified by simulations.

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Section: Introduction a Aims And Motivationmentioning

confidence: 99%