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

被引：1

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

页码：811 / 814

页数：4

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