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

被引：0
|
作者：
Yan, Chengyuan [1 ]
Wang, Xiao [1 ]
Liu, Tianjiao [1 ]
Xia, Jianwei [1 ]
Sun, Wei [1 ]
机构：
[1] Liaocheng Univ, Sch Math Sci, Liaocheng 252000, Peoples R China
来源：
2023 2ND CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, CFASTA | 2023年
关键词：
fuzzy logic systems; event-triggered control; flexible-joint robot;
D O I：
10.1109/CFASTA57821.2023.10243240
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
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.
引用
收藏
页码：811 / 814
页数：4
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