| Autor: |
Azarbahram, Ali, Pariz, Naser, Naghibi-Sistani, Mohammad-Bagher, Kardehi Moghaddam, Reihaneh |
| Zdroj: |
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems & Control Engineering; May2022, Vol. 236 Issue 5, p927-943, 17p |
| Abstrakt: |
This article proposes an event-triggered control framework to satisfy the tracking formation performance for a group of uncertain non-linear n -link robotic manipulators. The robotic manipulators are configured as a multi-agent system and they communicate over a directed graph (digraph). Furthermore, the non-linear robotic manipulator-multi-agent systems are subject to stochastic environmental loads. By introducing extra virtual controllers in the final step of the backstepping design, a total number of n event-triggering mechanisms are introduced independently for each link of all the robotic manipulator agents to update the control inputs in a fully distributed manner. More precisely, the actuator of each link of a particular agent is capable of being updated independent of other link actuator updates. A rigorous proof of the convergence of all the closed-loop signals in probability is then given and the Zeno phenomenon is excluded for the control event-triggered architectures. The simulation experiments finally quantify the effectiveness of proposed approach in terms of reducing the number of control updates and handling the stochastic environmental loads. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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