Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication

Abstract

In this article, the networked filtering problem for a class of robotic manipulators with semi-Markov type parameters is investigated under the passivity framework. In particular, the mode-dependent quantization and event-triggered communication scheme are both proposed for increasing the network transmission efficiency. Sufficient stability conditions are first derived by choosing mode-dependent Lyapunov–Krasovskii functionals. Then, the mode-dependent filter gains and the event-triggering parameters are further designed with the help of matrix convex optimization. In the end, a simulation example is provided such that the effectiveness of the proposed filtering method can be well demonstrated.