Adaptive Super-Twisting Tracking for Uncertain Robot Manipulators Based on the Event-Triggered Algorithm

In this study, the authors present an event-triggered control scheme for uncertain robot manipulators combined with an adaptive super-twisting algorithm to handle uncertain robot manipulator systems with unknown external uncertainties and disturbances. The proposed controller can ensure the system-t...

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Veröffentlicht in:Sensors (Basel, Switzerland) Jg. 25; H. 5; S. 1616
Hauptverfasser: Ma, Yajun, Zhao, Hui, Li, Tao
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Switzerland MDPI AG 06.03.2025
MDPI
Schlagworte:
Accuracy
adaptive super-twisting
Algorithms
Control algorithms
Design
event-triggered control
Numerical analysis
robot manipulator
Robots
Robust control
Simulation methods
Zeno free execution
China
event-triggered control
robot manipulator
Zeno free execution
adaptive super-twisting
ISSN:1424-8220, 1424-8220
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Beschreibung
Zusammenfassung:In this study, the authors present an event-triggered control scheme for uncertain robot manipulators combined with an adaptive super-twisting algorithm to handle uncertain robot manipulator systems with unknown external uncertainties and disturbances. The proposed controller can ensure the system-tracking performance while also guaranteeing the robust stability of the system. First, an event-triggered adaptive super-twisting control (ETASTC) method for multivariable second-order nonlinear systems is proposed. In addition, unlike the implementation of periodic control, in the event-triggered method, the control signal is updated by the requirement of system stability, thus avoiding the frequent periodic execution of control tasks. Furthermore, through rigorous proof, the Zeno free execution of the triggering sequence is also ensured. Lastly, the proposed method is illustrated through numerical simulation and experimental study, and the results show that the computational cost is saved while also ensuring the desired performance of the robot system.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s25051616