TY - JOUR
T1 - Periodic Event-Triggered Control for the Stabilization of Robotic Manipulators
AU - Benitez-Garcia, Saul Enrique
AU - Villarreal-Cervantes, Miguel Gabriel
AU - Guerrero-Castellanos, Jose Fermi
AU - Sanchez-Santana, Jose Pedro
AU - Sanchez-Santana, Jose Pedro
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2020
Y1 - 2020
N2 - This paper proposes a periodic event-triggered control (PETC) design applied to nonlinear robotic systems for joint space stabilization. The update of the control signal is based on a predefined triggering mechanism that periodically considers state measurements. So, continuous state measurements required in the continuous event-triggered control (CETC), are no longer needed in this proposal. The main advantages of the proposal are: 1) to assure the convergence of the closed-loop trajectories to a compact ball centered in the origin of the error space, and 2) the relaxation of continuous measurements for the evaluation of the event condition which implies a more suitable design for real-time implementation purposes. Experimental comparative results of the proposed design with a time-triggered control (TTC) scheme show that the PETC can present suitable performance with a significant reduction of 82.20% of the controller updates mainly given in the steady-state of the closed-loop system. This implies a decrement of the computation resources due to information transfer.
AB - This paper proposes a periodic event-triggered control (PETC) design applied to nonlinear robotic systems for joint space stabilization. The update of the control signal is based on a predefined triggering mechanism that periodically considers state measurements. So, continuous state measurements required in the continuous event-triggered control (CETC), are no longer needed in this proposal. The main advantages of the proposal are: 1) to assure the convergence of the closed-loop trajectories to a compact ball centered in the origin of the error space, and 2) the relaxation of continuous measurements for the evaluation of the event condition which implies a more suitable design for real-time implementation purposes. Experimental comparative results of the proposed design with a time-triggered control (TTC) scheme show that the PETC can present suitable performance with a significant reduction of 82.20% of the controller updates mainly given in the steady-state of the closed-loop system. This implies a decrement of the computation resources due to information transfer.
KW - Event-triggered control
KW - control Lyapunov function
KW - event function
KW - robotic manipulator
UR - http://www.scopus.com/inward/record.url?scp=85087429458&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2020.3002845
DO - 10.1109/ACCESS.2020.3002845
M3 - Artículo
SN - 2169-3536
VL - 8
SP - 111553
EP - 111565
JO - IEEE Access
JF - IEEE Access
M1 - 9120046
ER -