Adaptive Event-Triggered Fuzzy Control of Flexible-Joint Robot: A Fully Actuated System Approach

摘要

This paper investigates an adaptive event-triggered control problem for a class of flexible-joint (FJ) robot systems without converting the system into first-order systems. In order to solve the problem, fuzzy logic systems (FLSs) are introduced to deal with the unknown nonlinear functions. An adaptive event-triggered fuzzy high-order fully actuated (HOFA) system control scheme is proposed by using backstepping and event-triggered strategy. The proposed event-triggered controller guarantees that system states converge to an arbitrarily small neighborhood of origin. Finally, the effectiveness of the proposed control scheme is proved by FJ robot example.