Distributed Mode-Dependent Event-Triggered Passive Filtering for Flexible Manipulator with Semi-Markov Parameters

摘要

In this paper, the passive filtering problem of flexible robotic manipulator is investigated over sensor networks in a distributed manner from the control system perspective. The sensor networks are adopted to estimate true states of flexible robotic manipulator. In particular, the semi-Markov model is utilized for flexible manipulators with varying loads in unstructured environment, which is more flexible for practical implementations. Moreover, the new mode-dependent event-triggering mechanism is developed for distributed filter communications. Based on model transformation, sufficient conditions are first established to guarantee prescribed passive performance under disturbances. Then, desired mode-dependent filters are developed with the aid of convex optimization. In the end, several simulations results of a single-link flexible robotic manipulator are provided to verify the usefulness of the developed filtering algorithm.