基于命令过的机器人操纵器的规定的时间自适应事件触发控制
Yongling Xia1, Yanbin Liu1, Weichao Sun2
1School of Harbin Institute of Technology, Harbin 150000, China.
ISA transactions
|May 23, 2025
概括
这项研究引入了一种新的控制方法,用于不确定的机器人操纵器,确保在设定的时间内稳定. 该方法使用神经网络和事件触发器来管理不确定性并节省资源.
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:
- 机器人操纵器控制受到模型不确定性和外部干扰的挑战.
- 在预定义的时间框架内实现精确的控制对于许多应用程序至关重要.
- 现有的方法经常遭受复杂性爆炸和过错误.
研究的目的:
- 为不确定的操纵系统开发一种新的规定的时间适应性事件触发控制方案.
- 为了有效地解决模型不确定性和外部干扰.
- 为了在用户定义的沉降时间内确保稳定性,而没有复杂性爆炸问题.
主要方法:
- 利用神经网络来处理操纵模型的不确定性.
- 开发了一种零碎的功能,以达到足够的规定的时间稳定性条件.
- 实施了一个错误补偿策略来管理过器错误.
- 引入了对外部干扰的适应性估计策略.
- 整合了一个事件触发机制,以优化通信资源.
主要成果:
- 成功提出了一种新的规定的时间适应事件触发控制方案.
- 该方法将收域和结算时间解为预设参数.
- 这种方法避免了"复杂性爆炸",并弥补了过器错误.
- 外部干扰被适应性补偿,并节省通信资源.
- 模拟结果证明了拟议的控制方法的优越性.
结论:
- 拟议的控制方案为不确定的操纵系统实现了规定的时间稳定性.
- 该方法有效地处理模型不确定性,外部干扰和过错误.
- 事件触发机制提高了通信效率,使其适合于现实世界的应用.
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