Trajectory Tracking Control of Manipulator Under Event-Triggered Scheme
Aiming at the trajectory tracking problem of 2-DOF manipulator system when there are network communication constraints and external disturbances,an adaptive event-triggered sliding mode control strat-egy is proposed.Firstly,based on the dynamic model of the 2-DOF manipulator,the normalized arctangent function is used to design the sliding mode controller to alleviate the discontinuity when switching to the sliding mode surface,and reduce the chattering problem of the control system.Secondly,in order to save network communication resources,an adaptive event-triggered mechanism is proposed based on this control-ler,which can dynamically adjust the trigger threshold and reduce the trigger frequency according to the state error.At the same time,the Lyapunov function analysis method is used to prove that the system under the action of controller and event-triggered mechanism is asymptotically convergent,and Zeno phenomenon is excluded.Finally,the simulation results show that the proposed method can reduce the controller chattering and track the desired trajectory of the manipulator while reducing the number of system data transmission.
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