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    This study introduces a novel dynamic event-triggered control for flexible joint robots using the high-order fully actuated system approach. This method simplifies control design and conserves communication resources while ensuring system stability.

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    Area of Science:

    • Robotics
    • Control Systems Engineering
    • System Dynamics

    Background:

    • Flexible joint robot systems (SFJRS) present complex control challenges due to inherent nonlinearities.
    • Traditional control methods often require extensive state-space modeling and continuous communication, limiting efficiency.

    Purpose of the Study:

    • To develop a simplified and resource-efficient dynamic event-triggered control scheme for SFJRS.
    • To apply the high-order fully actuated (HOFA) system approach to SFJRS control problems.
    • To demonstrate asymptotic stability of the closed-loop system under the proposed control.

    Main Methods:

    • Transformation of the SFJRS into a high-order fully actuated (HOFA) system model using a recursive "ascending dimension and descending order" method.
    • Development of a novel matrix threshold strategy dynamic event-triggered control scheme.
    • Analysis of closed-loop system stability.

    Main Results:

    • The proposed HOFA system approach simplifies control design for SFJRS.
    • The matrix threshold strategy dynamic event-triggered control significantly reduces communication resource requirements.
    • Asymptotic stability of the closed-loop system was proven under the proposed control strategy.

    Conclusions:

    • The HOFA system approach is effective for SFJRS control.
    • The proposed dynamic event-triggered control method offers superior performance in terms of control design simplicity and communication efficiency.
    • Simulation experiments validate the effectiveness and superiority of the proposed methods.