Sampled-data event-triggered resilient consensus control of multiple flexible manipulators with actuator failures via...

Area of Science:

• Robotics
• Control Systems Engineering
• Applied Mathematics

Background:

• Flexible manipulators present challenges in control due to their infinite-dimensional nature and vibrations.
• Actuator failures can compromise the performance and safety of multi-manipulator systems.
• Achieving consensus tracking in distributed systems requires robust control strategies that handle uncertainties and communication constraints.

Purpose of the Study:

• To propose a novel sampled-data event-triggered resilient consensus tracking control scheme for multiple flexible manipulators.
• To address the issue of actuator failures in these systems.
• To reduce communication load while ensuring effective control and vibration suppression.

Main Methods:

• Design of a finite-time observer for virtual leader state estimation.
• Iterative learning method for periodic disturbance estimation.
• Integration of a sampled-data event-triggered mechanism into a resilient consensus control framework.

Main Results:

• The proposed control scheme achieves consensus tracking for multiple flexible manipulators.
• Effective vibration suppression is demonstrated.
• The event-triggered mechanism significantly reduces communication consumption compared to traditional methods.

Conclusions:

• The developed control strategy ensures robust consensus tracking and vibration suppression in the presence of actuator failures.
• The sampled-data event-triggered approach offers an efficient solution for communication-limited multi-manipulator systems.
• Simulation results validate the effectiveness and practicality of the proposed control scheme.