一个不确定的操纵系统的基于事件的非单元固定时间跟踪控制,受完全状态静态约束
IEEE transactions on cybernetics
|July 19, 2023
概括
这项研究引入了机器人操纵器的事件触发控制,确保固定的时间跟踪,尽管存在不确定性和约束. 这种新的方法可以降低通信负载,同时保持稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 人工智能的人工智能
背景情况:
- 机器人操纵者面临的挑战包括模型不确定性,外部干扰和全状态约束.
- 在固定时间内实现精确而稳定的跟踪控制对于机器人应用至关重要.
- 现有的方法可能会因奇点问题和高通信负载而扎.
研究的目的:
- 为了研究n-link刚性机器人操纵器的事件触发的非单元固定时间跟踪.
- 解决完整状态约束,外部干扰和模型不确定性的问题.
- 为了降低通信负载,同时确保系统稳定性和约束合规性.
主要方法:
- 限制性实际固定时间稳定性 (CPFTS) 的定义及其充分条件.
- 开发一种新的辅助功能来解决奇点问题.
- 使用辐射基函数神经网络 (RBFNN) 进行不确定参数的近似计算.
- 建议基于模型和基于神经网络的跟踪控制方法,使用缩放函数和屏障Lyapunov函数.
- 实施相对值事件触发控制策略.
主要成果:
- 建议的控制方法确保追踪错误系统实现CPFTS.
- 完整状态的约束被有效地管理.
- 事件触发策略显著降低了通信传输负载.
- 模拟结果验证了开发的跟踪控制算法的有效性.
结论:
- 该研究成功地展示了机器人操纵器的强大而高效的固定时间跟踪控制.
- 拟议的事件触发策略提供了一个切实可行的解决方案,以减少通信开支.
- 这些方法确保了复杂的机器人系统的稳定性和约束满足.
相关概念视频
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