Finite-Time Adaptive Event-Triggered Control for Robot Manipulators With Output Constraints

摘要

This brief investigates the tracking control of robot manipulators with output constraints. A novel finite-time adaptive event-triggered command filtered backstepping scheme is given, in which the command filters are utilized to avoid the direct differentials of virtual control signal and the compensation mechanism is used to eliminate filtering errors. The barrier Lyapunov functions are employed to ensure the outputs are constrained in the predefined region, and the finite-time control with fraction-power signals can help the closed-loop system get better convergence rate and steady-state performance. Moreover, the relative threshold-event-triggered mechanism is used to reduce the resource waste and communication burden effectively. A simulation model of 2-DOF robot manipulator is employed to demonstrate the proposed algorithm.