通过间歇事件触发采样控制实现主-从机械臂系统的同步
Synchronization of Master-slave Manipulator Systems via Intermittent Event Triggered Sampling Control
张丽钇 1马米花1
作者信息
- 1. 闽南师范大学 数学与统计学院,福建 漳州 363000
- 折叠
摘要
针对主-从机械臂系统的同步问题,提出了一种非周期间歇事件触发采样控制方案.非周期间歇事件触发采样控制方案由含有固定阈值的事件触发条件和非周期间歇事件触发采样控制器组成.控制器只需在满足事件触发条件时对监测到的状态误差进行采样并更新,可以减少通信负担,节省通信资源.基于李雅普诺夫理论推导出使主-从机械臂系统达到同步状态的代数同步判据.含有固定阈值的触发条件和非周期间歇事件触发采样控制器协同设计,确保了所提出的控制方案避免芝诺行为.最后,通过对双连杆机械臂进行数值模拟,验证了所提出的控制方案是有效的.
Abstract
To solve the synchronization problem of master-slave manipulator systems,an aperiodically intermittent event trigger-ing sampling control scheme is proposed.The aperiodically intermittent event triggering sampling control scheme consists of an event triggering condition with a fixed threshold and an aperiodically intermittent event triggering sampling controller.The control-ler only needs to sample and update the detected state errors when the event triggering condition is met,which can reduce the communication burden and save communication resources.On the basis of Lyapunov theory,algebraic synchronization criteria are derived to make the master-slave manipulator systems achieve synchronization.The trigger condition with fixed threshold and the aperiodically intermittent event trigger sampling controller are co-designed to ensure the proposed control scheme to avoid Zeno behavior.Finally,through numerical simulations of the two-link manipulator systems,the proposed control scheme is proved to be effective.
关键词
机械臂系统/事件触发控制/采样控制/同步判据Key words
manipulator systems/event trigger control/sampling control/synchronization criteria引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据