Dynamic Event-Triggered Control for Flexible Joint Robot Based on Fully Actuated System Approach
针对单连杆柔性关节机器人系统，提出一种基于高階全驱动系统方法的矩阵阈值动态事件触发控制方案，简化控制设计并节省通信资源，仿真验证了其优越性。
In this article, the high-order fully actuated (HOFA) system approach is applied to study the matrix threshold strategy dynamic event-triggered control problem of a single-link flexible joint robot system (SFJRS). First, the SFJRS is transformed into an HOFA system model by using the recursive "ascending dimension and descending order" method. On this basis, different from the traditional method based on the state-space model, a novel matrix threshold strategy dynamic event-triggered control scheme based on the HOFA system approach is proposed, which not only simplifies the control design but also greatly saves communication resources. It is proved that the closed-loop systems are asymptotically stable under the proposed control strategy. Finally, the superiority of the HOFA system approach and the matrix threshold strategy dynamic event-triggered control method is demonstrated through two different simulation experiments.