首页|Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Mani-pulators Under Time-Varying Actuator Faults

Event-Triggered Bipartite Consensus Tracking and Vibration Control of Flexible Timoshenko Mani-pulators Under Time-Varying Actuator Faults

扫码查看
原文链接
  • 国家科技期刊平台
  • NETL
  • NSTL
  • 万方数据
For bipartite angle consensus tracking and vibration suppression of multiple Timoshenko manipulator systems with time-varying actuator faults,parameter and modeling uncertain-ties,and unknown disturbances,a novel distributed boundary event-triggered control strategy is proposed in this work.In con-trast to the earlier findings,time-varying consensus tracking and actuator defects are taken into account simultaneously.In addi-tion,the constructed event-triggered control mechanism can achieve a more flexible design because it is not required to satisfy the input-to-state condition.To achieve the control objectives,some new integral control variables are given by using back-step-ping technique and boundary control.Moreover,adaptive neural networks are applied to estimate system uncertainties.With the proposed event-triggered scheme,control inputs can reduce unnecessary updates.Besides,tracking errors and vibration states of the closed-looped network can be exponentially convergent into some small fields,and Zeno behaviors can be excluded.At last,some simulation examples are given to state the effectiveness of the control algorithms.

Bipartite consensus trackingevent-triggered con-trolmultiple manipulatorsneural networkstime-varying actuator faults

Xiangqian Yao、Hao Sun、Zhijia Zhao、Yu Liu

展开 >

School of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,China

Yongjiang Laboratory,Ningbo 315202

School of Astronautics,Harbin Institute of Technology,Harbin 150001,China

School of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006,China

展开 >

国家重点研发计划国家自然科学基金Guangdong Basic and Applied Basic Research Foundation

2021YFB3202200622031412021B1515120017

2024

10.1109/JAS.2024.124266

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(5)
  • 43