Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump Process

Abstract

In this paper, we investigate the problem of a dynamic event-triggered robust controller design for flexible robotic arm systems with continuous-time phase-type semi-Markov jump process. In particular, the change in moment of inertia is first considered in the flexible robotic arm system, which is necessary for ensuring the security and stability control of special robots employed under special circumstances, such as surgical robots and assisted-living robots which have strict lightweight requirements. To handle this problem, a semi-Markov chain is conducted to model this process. Furthermore, the dynamic event-triggered scheme is used to solve the problem of limited bandwidth in the network transmission environment, while considering the impact of DoS attacks. With regard to the challenging circumstances and negative elements previously mentioned, the adequate criteria for the existence of the resilient H∞ controller are obtained using the Lyapunov function approach, and the controller gains, Lyapunov parameters and event-triggered parameters are co-designed. Finally, the effectiveness of the designed controller is demonstrated via numerical simulation using the LMI toolbox in MATLAB.

Event-Triggered Distributed Fusion Estimator for Asynchronous Markov Jump Systems with Correlated Noises and Fading Measurements

“…Step 2: The variance-based ET mechanism is used to determine whether the FC receives LF data. If Λ i (k) = 1, the FC obtains LE ςe i (k|k) using (34), and the EECM P e ς i (k|k) is calculated using (35), as specified in Theorem 2. If Λ i (k) = 0, ςe i (k|k) and P e ς i (k|k) are calculated using the one-step prediction, which is stored in the FC; when Λ i (k − 1) = 1, they are computed via (36) and (37); when Λ i (k − 1) = 0, they are computed via (38) and (39).…”

“…In [ 33 ], a dissipative filter is studied under the ET mechanism for MJSs subject to time-varying delays. In [ 34 ], the variation in rotational inertia is modeled using a semi-Markov chain, and the ET mechanism is used to reduce the network bandwidth. In [ 35 ], an asynchronous sliding mode controller, based on the ET mechanism, is designed for singular MJSs.…”

Dynamic Event-Triggered Control for Delayed Nonlinear Markov Jump Systems under Randomly Occurring DoS Attack and Packet Loss

“…For an event-triggered mechanism, the signals are transmitted only when the system state meets the preset triggered condition, which can effectively overcome the aforementioned obstacle. It is worth noting that according to the type of triggered parameters, event-triggered mechanisms are often divided into Static Event-Triggered Mechanisms (SETM) [19][20][21][22] and Dynamic Event-Triggered Mechanisms (DETM) [23,24]. Based on the Adaptive Event-Triggered Mechanism (AETM), ref.…”