Vibration Control for Flexible Manipulators With Event-Triggering Mechanism and Actuator Failures
针对柔性单连杆机械臂，研究了在边界控制和域内控制下，通过自适应补偿方法解决执行器无限故障问题，并采用事件触发控制策略实现角度调节和振动抑制，同时降低通信负担。
This article focuses on flexible single-link manipulators (FSLMs) under boundary control and in-domain control. The actuators of the system include the dc motor at the end of the joint and m piezoelectric controllers installed at the flexible link, which is regarded as an Euler-Bernoulli beam. The problem of the infinite number of actuator failures, including the partial loss of the effectiveness and total loss of effectiveness, is solved by the adaptive compensation method. By introducing the relative threshold strategy, the event-triggered control (ETC) scheme is proposed to achieve angle regulation and vibration suppression while reducing the communication burden between the controllers and the actuators. The Lyapunov direct method is utilized to prove that the system is uniformly ultimately bounded and both the angular tracking error and elastic displacement converge to a neighborhood of zero. Numerical simulation results are provided to demonstrate the effectiveness of the proposed control law.