适应性规定的定位时间周期性事件触发控制不确定机器人操纵器的状态约束
Zicong Chen1, Hui Zhang1, Jianqi Liu1
1School of Automation, Guangdong University of Technology, Guangzhou, 510006, China.
概括
本研究引入了针对机器人操纵器的适应性规定的定位时间周期性事件触发控制 (APST-PETC). 这种方法减少了控制信号更新,节省了网络带宽,并确保在设定的时间内精确跟踪,即使有状态约束.
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
- 应用数学 应用数学 应用数学
背景情况:
- 机器人操纵者经常面临国家约束和网络资源限制的挑战.
- 现有的控制方法可能需要高计算负担和持续监控,导致效率低下的带宽使用.
研究的目的:
- 为具有状态约束的不确定机器人操纵器开发一种适应性规定的定位时间周期性事件触发控制 (APST-PETC).
- 通过减少信号更新频率和计算负载来提高控制效率.
- 为了确保系统跟踪错误在规定的时间内趋同,尽管有物理限制.
主要方法:
- 使用周期性事件触发控制 (PETC) 策略来最大限度地减少控制信号更新.
- 使用屏障莱普诺夫函数 (BLF) 来解决状态约束对操纵器性能的影响.
- 使用系统跟踪错误的非线性映射设计了一个自适应式规定的定位时间控制 (APSTC).
主要成果:
- 拟议的APST-PETC战略有效地减少了网络带宽占用和计算负担.
- BLF成功地管理了国家约束的影响,保持了操纵者的机动性.
- APSTC确保了系统跟踪错误在指定的结算时间内达到预先确定的精度剩余集.
结论:
- 开发的 APST-PETC 是一种可行且有效的控制策略,用于具有状态约束的不确定的机器人操纵器.
- 集成PETC和APSTC在资源管理和性能方面提供了显著的优势.
- 理论分析和实验验证证证了拟议的控制方法的有效性.
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