Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump Process
In this paper, we investigate the problem of a dynamic event-triggered robust controller design for flexible robotic arm systems with continuous-time phase-type semi-Markov jump process. In particular, the change in moment of inertia is first considered in the flexible robotic arm system, which is n...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/12/5523 |
| _version_ | 1797592703214551040 |
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| author | Huiyan Zhang Zixian Chen Wengang Ao Peng Shi |
| author_facet | Huiyan Zhang Zixian Chen Wengang Ao Peng Shi |
| author_sort | Huiyan Zhang |
| collection | DOAJ |
| description | In this paper, we investigate the problem of a dynamic event-triggered robust controller design for flexible robotic arm systems with continuous-time phase-type semi-Markov jump process. In particular, the change in moment of inertia is first considered in the flexible robotic arm system, which is necessary for ensuring the security and stability control of special robots employed under special circumstances, such as surgical robots and assisted-living robots which have strict lightweight requirements. To handle this problem, a semi-Markov chain is conducted to model this process. Furthermore, the dynamic event-triggered scheme is used to solve the problem of limited bandwidth in the network transmission environment, while considering the impact of DoS attacks. With regard to the challenging circumstances and negative elements previously mentioned, the adequate criteria for the existence of the resilient <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> controller are obtained using the Lyapunov function approach, and the controller gains, Lyapunov parameters and event-triggered parameters are co-designed. Finally, the effectiveness of the designed controller is demonstrated via numerical simulation using the LMI toolbox in MATLAB. |
| first_indexed | 2024-03-11T01:56:54Z |
| format | Article |
| id | doaj.art-48b42af6420c4fb580048d0e33dfb7e9 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T01:56:54Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-48b42af6420c4fb580048d0e33dfb7e92023-11-18T12:32:17ZengMDPI AGSensors1424-82202023-06-012312552310.3390/s23125523Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump ProcessHuiyan Zhang0Zixian Chen1Wengang Ao2Peng Shi3National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing 400067, ChinaSchool of Mechanical Engineering Chongqing Technology and Business University, Chongqing 400067, ChinaNational Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing 400067, ChinaSchool of Electrical and Mechanical Engineering, The University of Adelaide, Adelaide, SA 5005, AustraliaIn this paper, we investigate the problem of a dynamic event-triggered robust controller design for flexible robotic arm systems with continuous-time phase-type semi-Markov jump process. In particular, the change in moment of inertia is first considered in the flexible robotic arm system, which is necessary for ensuring the security and stability control of special robots employed under special circumstances, such as surgical robots and assisted-living robots which have strict lightweight requirements. To handle this problem, a semi-Markov chain is conducted to model this process. Furthermore, the dynamic event-triggered scheme is used to solve the problem of limited bandwidth in the network transmission environment, while considering the impact of DoS attacks. With regard to the challenging circumstances and negative elements previously mentioned, the adequate criteria for the existence of the resilient <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mi>H</mi><mo>∞</mo></msub></semantics></math></inline-formula> controller are obtained using the Lyapunov function approach, and the controller gains, Lyapunov parameters and event-triggered parameters are co-designed. Finally, the effectiveness of the designed controller is demonstrated via numerical simulation using the LMI toolbox in MATLAB.https://www.mdpi.com/1424-8220/23/12/5523flexible robotic armdynamic event-triggered schemephase-type semi-Markov chainrobust controlDoS attacks |
| spellingShingle | Huiyan Zhang Zixian Chen Wengang Ao Peng Shi Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump Process Sensors flexible robotic arm dynamic event-triggered scheme phase-type semi-Markov chain robust control DoS attacks |
| title | Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump Process |
| title_full | Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump Process |
| title_fullStr | Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump Process |
| title_full_unstemmed | Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump Process |
| title_short | Improved Dynamic Event-Triggered Robust Control for Flexible Robotic Arm Systems with Semi-Markov Jump Process |
| title_sort | improved dynamic event triggered robust control for flexible robotic arm systems with semi markov jump process |
| topic | flexible robotic arm dynamic event-triggered scheme phase-type semi-Markov chain robust control DoS attacks |
| url | https://www.mdpi.com/1424-8220/23/12/5523 |
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