Fully Actuated System Approach-Based Dynamic Event-Triggered Control With Guaranteed Transient Performance of Flexible-Joint Robot: Experiment

摘要

This brief presents an adaptive fuzzy dynamic event-triggered tracking control scheme with guaranteed transient performance for flexible-joint (FJ) robot system. Unlike traditional backstepping control method, we approach the control problem for second-order systems based on fully actuated system approach, which greatly reduces the computational complexity. A dynamic event-triggered mechanism (DETM) is proposed that not only saves resources but also adjusts the number of triggers flexibly. In addition, we design a new time-varying smooth segmentation function and normalized function which removes the constraints on the performance function as well as achieving tracking accuracy in the desired time. At the same time, it is proved by Lyapunov stability theory that the proposed control strategy ensures that all signals of the closed-loop system are bounded and the Zeno behavior can be avoided. Finally, the proposed control strategy is applied to the 2-link FJ robot on hardware experiment platform and the feasibility and superiority of the scheme are verified.