Adaptive event-triggered anti-windup trajectory tracking control for robotic manipulator

Area of Science:

• Robotics
• Control Systems Engineering
• Mechatronics

Background:

• Robotic manipulator systems face challenges like uncertainties, external disturbances, component faults, and input saturation.
• Ensuring closed-loop system stability in the presence of these issues is critical for reliable operation.
• Existing control methods may require complex state-space transformations or detailed nonlinear analysis.

Purpose of the Study:

• To propose an adaptive event-triggered anti-windup trajectory tracking control method for robotic manipulators.
• To ensure the stability of the closed-loop system under various operational challenges.
• To simplify controller design and stability analysis compared to traditional methods.

Main Methods:

• Utilizes a fully actuated system approach for direct controller design on the second-order robotic manipulator model.
• Implements an adaptive event-triggered anti-windup strategy.
• Employs numerical simulations to validate the proposed control method.

Main Results:

• The proposed method simplifies controller design by avoiding conversion to a first-order state-space model.
• Stability analysis is simplified as it does not depend on the complexity of system nonlinear terms.
• The event-triggered approach effectively reduces the burden on network communication.

Conclusions:

• The developed adaptive event-triggered control method ensures closed-loop stability for robotic manipulators facing uncertainties and faults.
• The approach offers advantages in terms of simplified controller design, easier stability analysis, and reduced communication load.
• Numerical simulations confirm the effectiveness of the proposed trajectory tracking control strategy.