Related Experiment Video
Updated: May 24, 2025

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces
Published on: March 10, 2011
Event-Triggered Adaptive Finite-Time Control for a Robotic Manipulator System With Global Prescribed Performance and
Abstract:
This article studies the dynamic event-triggered adaptive finite-time tracking control issue for a robotic manipulator (RM) system with disturbances. First, a new global prescribed performance function (PPF) is designed based on a scaling function such that the tracking error evolves within the constrained bounds and the restriction related to the initial conditions is removed. Then, the finite-time command filter (FTCF) is used to avoid the direct derivations of virtual controllers and the singularity issue of the conventional backstepping technique. Moreover, the filtering errors caused by the FTCF are removed by the designed error compensation mechanism. A novel dynamic event-triggered mechanism (DETM) using the dynamic auxiliary variable is designed to save communication resources. The proposed control scheme can guarantee that all signals of the RM are globally bounded within a finite time, and the tracking error can asymptotically reach zero. Finally, a simulation example and several comparative simulations show the validity of the proposed scheme.
Related Concept Videos
Controller Configurations
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Time-Domain Interpretation of PD Control
Consider the example of control of motor torque. Initially, a positive...
Control Systems
At the heart...
Feedback control systems
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Transient and Steady-state Response
These test signals are integral in designing control systems to exhibit two key performance aspects: transient response and steady-state...
PI Controller: Design

