Event-Triggered Control for Trajectory Tracking by Robotic Manipulator

2018 ◽  
pp. 161-170 ◽  
Author(s):  
Ankur Kamboj ◽  
Narendra Kumar Dhar ◽  
Nishchal K. Verma
Keyword(s):  
Trajectory Tracking ◽  
Robotic Manipulator ◽  
Event Triggered

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

Control of singularity trajectory tracking for robotic manipulator by genetic algorithms

2019 ◽  
Vol 30 ◽  
pp. 55-64 ◽  
Author(s):  
Pedro Pedrosa Rebouças Filho ◽  
Suane Pires P. da Silva ◽  
Victor N. Praxedes ◽  
Jude Hemanth ◽  
Victor Hugo C. de Albuquerque
Keyword(s):  
Genetic Algorithms ◽  
Trajectory Tracking ◽  
Robotic Manipulator

Event-triggered discrete extended state observer–based model-free controller for quadrotor position and attitude trajectory tracking

2021 ◽  
pp. 095965182110553
Author(s):  
Dingxin He ◽  
Haoping Wang ◽  
Yang Tian ◽  
Konstantin Zimenko
Keyword(s):  
Trajectory Tracking ◽  
Signal Transmission ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Model Free ◽  
Model Free Controller ◽  
Quadrotor System ◽  
Static Threshold ◽  
Event Triggered

In this article, an event-triggered discrete extended state observer–based model-free controller is developed for the position and attitude trajectory tracking of a quadrotor with uncertainties and external disturbances. The referred event-triggered discrete extended state observer–based model-free controller is composed of two event-triggered mechanisms, ultra-local model-based discrete extended state observer and proportional-derivative sub-controller. To reduce system output signal transmission, the event-triggered mechanism of output signal which owns dynamic and static threshold is designed. Based on event-triggered output signals, the discrete extended state observer is constructed to obtain the estimations of state values which are utilized as controller’s variables and to compensate for the lumped disturbances. The proportional-derivative sub-controller is adopted to guarantee the convergence of trajectory tracking error. To decrease control input signal transmission, the event-triggered mechanism of input signal that processes static threshold is constructed. Moreover, the stability analysis of overall quadrotor system with the proposed control strategy is investigated using Lyapunov theorem and the Zeno behavior is avoided. Finally, corresponding control scheme for quadrotor system is structured and the numerical comparative simulation and co-simulation experiment are given to demonstrate the effectiveness and performance of the proposed approach.

Event-triggered sliding mode control for trajectory tracking of nonlinear systems

2020 ◽  
Vol 7 (1) ◽  
pp. 307-314 ◽  
Author(s):  
Aquib Mustafa ◽  
Narendra K. Dhar ◽  
Nishchal K Verma
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Mode Control ◽  
Event Triggered
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