Vibration Control for Flexible Manipulators With Event-Triggering Mechanism and Actuator Failures
IEEE Transactions on Cybernetics
|January 8, 2021
Summary
This study introduces an event-triggered control scheme for flexible single-link manipulators (FSLMs) that effectively manages actuator failures and reduces communication load. The adaptive control ensures precise angle regulation and vibration suppression, even with actuator degradation.
Area of Science:
- Robotics and Control Systems
- Mechanical Engineering
- Applied Mathematics
Background:
- Flexible single-link manipulators (FSLMs) present challenges in precise control due to their inherent flexibility.
- Actuator failures, both partial and total, can significantly degrade manipulator performance.
- Existing control strategies may incur high communication burdens.
Purpose of the Study:
- To develop an adaptive event-triggered control (ETC) scheme for FSLMs.
- To address actuator failures, including partial and total loss of effectiveness.
- To achieve accurate angle regulation and vibration suppression while minimizing communication overhead.
Main Methods:
- Modeling the flexible link as an Euler-Bernoulli beam.
- Implementing an adaptive compensation method for actuator failures.
- Utilizing a relative threshold strategy for event-triggered control.
- Applying the Lyapunov direct method for stability analysis.
Main Results:
- The proposed adaptive ETC scheme effectively compensates for actuator failures.
- Event-triggered control successfully reduces communication between controllers and actuators.
- The system demonstrates uniform ultimate boundedness.
- Both angular tracking error and elastic displacement converge to near-zero values.
Conclusions:
- The developed control strategy enhances the robustness and efficiency of FSLMs.
- The ETC approach offers a practical solution for reducing communication load in control systems.
- Numerical simulations validate the effectiveness of the proposed control law for angle regulation and vibration suppression.
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