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

For a robotic manipulator system subject to uncertainties, external disturbances, component faults, and input saturation, this paper proposes an adaptive event-triggered anti-windup trajectory tracking control method based on the fully actuated system approach to ensure the stability of the closed-loop system. The advantages of the proposed method are: (1) Different from the state space method, the proposed control method can be directly designed for the second-order fully-actuated robotic manipulator system model without the need to convert the system to the first-order state space model, simplifying the design of the controller. (2) The stability analysis of closed-loop systems no longer relies on the complexity of system nonlinear terms, thus simplifying the stability analysis. (3) The proposed method reduces the burden on network communication. The numerical simulations illustrate the effectiveness of the designed method.