ロボットマニピュレータのイベントトリガロバスト制御

抄録

This paper proposes a new event-triggered robust control system for robot manipulators, based on two event-triggered mechanisms (ETMs)，which lead to intermittent communication not only for the sensor-to-controller channel but also for the controller-to-actuator channel. The proposed control system enjoys the advantage of requiring fewer resources of data communication and less signal updating of the control actuators. The control performance of the proposed control system is analyzed based on the Lyapunov approach. Furthermore, the absence of the Zeno behavior in the triggering sequence is proved rigorously. Finally, experiments are carried out on a two-link robot manipulator system to support the theoretical results.