Periodic Event-Triggered Control for the Stabilization of Robotic Manipulators

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.

Resource-Efficient Path-Following Control for a Self-Driving Car in a Networked Control System

“…The model used to represent the plant in simulations is similar to the previous one (see, e.g., in [45], [47]), but replacing (15) by ṙ = l f F yf cos(δ) − l r F yr I z (24) and then, (23) gives place to…”

“…Integrating dual-rate techniques with event-triggered control and communication methods [20] enables to increase resource savings even more in the NCS, since only some of the packets will be sent through the network when some event-triggered conditions are satisfied. Event-triggered control and communication is a trending research area, which is being applied to diverse fields such as self-driving vehicles [15], [21], cyber-physical systems [22], robotic manipulators VOLUME 11, 2023 [23], multi-agent systems [24], hard-disk drives [25], and so on. In the present work, this technique will be used from the point of view of periodic event-triggered communication (PETC) [26], where the event-triggered conditions are periodically evaluated.…”

Periodic event‐triggered control with multisource disturbances and quantized states

“…For instance, PET cooperative output control regulation problem of linear multi-agent systems was solved in the work of Zheng et al 20 A PET method for nonlinear robotic systems was proposed in the work of Benitez. 21 An adaptive neural-network PET control problem for a class of switched nonlinear systems was investigated in the work of Li et al 22 Multisource disturbances widely exist in control systems. There are mainly two kinds of sources, that is, deterministic disturbance (see the works of Li et al 23 and Lou et al 24 ) and stochastic disturbances (see the works of Zong et al 25,26 ).…”