TY - GEN
T1 - Prescribed Performance Integral Sliding Control of Robot System with Event-Triggered Unknown System Dynamic Estimator
AU - Zhang, Chao
AU - Ren, Xuemei
AU - Zheng, Dongdong
AU - Na, Jing
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this paper, a prescribed performance integral sliding control approach based on the event-triggered unknown system dynamics estimator (ET-USDE) is proposed for robot system to obtain a satisfactory position tracking control error. The lumped dynamics including unknown system dynamics and external disturbances are estimated and compensated by ETUSDE. An event-triggered mechanism is employed into the ETUSDE, the communication burden of the robot system is reduced based on an event-based sampler. A tuning function is used in the prescribed performance integral sliding control design, enabling significant improvements in the control performance of the robot system. Through the Lyapunov analysis it can be ensured that the estimation error is uniformly ultimately bounded and that all signals are bounded as well. Finally, the satisfactory motion control performance with reduced sampling cost of the proposed method is validated through numerical simulations.
AB - In this paper, a prescribed performance integral sliding control approach based on the event-triggered unknown system dynamics estimator (ET-USDE) is proposed for robot system to obtain a satisfactory position tracking control error. The lumped dynamics including unknown system dynamics and external disturbances are estimated and compensated by ETUSDE. An event-triggered mechanism is employed into the ETUSDE, the communication burden of the robot system is reduced based on an event-based sampler. A tuning function is used in the prescribed performance integral sliding control design, enabling significant improvements in the control performance of the robot system. Through the Lyapunov analysis it can be ensured that the estimation error is uniformly ultimately bounded and that all signals are bounded as well. Finally, the satisfactory motion control performance with reduced sampling cost of the proposed method is validated through numerical simulations.
KW - event-triggered control
KW - prescribed performance control
KW - robot system.
KW - unknown system dynamic estimator
UR - http://www.scopus.com/inward/record.url?scp=85147936802&partnerID=8YFLogxK
U2 - 10.1109/YAC57282.2022.10023784
DO - 10.1109/YAC57282.2022.10023784
M3 - Conference contribution
AN - SCOPUS:85147936802
T3 - Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
SP - 248
EP - 253
BT - Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
Y2 - 19 November 2022 through 20 November 2022
ER -