Event-triggered control of flexible manipulator constraint system modeled by PDE
The vibration suppression control of a flexible manipulator system modeled by partial differential equation (PDE) with state constraints is studied in this paper. On the basis of the backstepping recursive design framework, the problem of the constraint of joint angle and boundary vibration deflecti...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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AIMS Press
2023-03-01
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| Series: | Mathematical Biosciences and Engineering |
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| Online Access: | https://www.aimspress.com/article/doi/10.3934/mbe.2023441?viewType=HTML |
| _version_ | 1797842312849522688 |
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| author | Tongyu Wang Yadong Chen |
| author_facet | Tongyu Wang Yadong Chen |
| author_sort | Tongyu Wang |
| collection | DOAJ |
| description | The vibration suppression control of a flexible manipulator system modeled by partial differential equation (PDE) with state constraints is studied in this paper. On the basis of the backstepping recursive design framework, the problem of the constraint of joint angle and boundary vibration deflection is solved by using the Barrier Lyapunov function (BLF). Moreover, based on the relative threshold strategy, an event-triggered mechanism is proposed to save the communication workload between controller and actuator, which not only deals with the state constraints of the partial differential flexible manipulator system, but also effectively improves the system work efficiency. Good damping effect on vibration and the elevated system performance can be seen under the proposed control strategy. At the same time, the state can meet the constraints given in advance, and all system signals are bounded. The proposed scheme is effective, which is proven by simulation results. |
| first_indexed | 2024-04-09T16:45:53Z |
| format | Article |
| id | doaj.art-7fcbe1ec18c8410d97802d567d02306c |
| institution | Directory Open Access Journal |
| issn | 1551-0018 |
| language | English |
| last_indexed | 2024-04-09T16:45:53Z |
| publishDate | 2023-03-01 |
| publisher | AIMS Press |
| record_format | Article |
| series | Mathematical Biosciences and Engineering |
| spelling | doaj.art-7fcbe1ec18c8410d97802d567d02306c2023-04-23T01:07:41ZengAIMS PressMathematical Biosciences and Engineering1551-00182023-03-01206100431006210.3934/mbe.2023441Event-triggered control of flexible manipulator constraint system modeled by PDETongyu Wang0Yadong Chen1College of Medicine and Biological Information Engineering, Northeastern University, Shenyang 110169, ChinaCollege of Medicine and Biological Information Engineering, Northeastern University, Shenyang 110169, ChinaThe vibration suppression control of a flexible manipulator system modeled by partial differential equation (PDE) with state constraints is studied in this paper. On the basis of the backstepping recursive design framework, the problem of the constraint of joint angle and boundary vibration deflection is solved by using the Barrier Lyapunov function (BLF). Moreover, based on the relative threshold strategy, an event-triggered mechanism is proposed to save the communication workload between controller and actuator, which not only deals with the state constraints of the partial differential flexible manipulator system, but also effectively improves the system work efficiency. Good damping effect on vibration and the elevated system performance can be seen under the proposed control strategy. At the same time, the state can meet the constraints given in advance, and all system signals are bounded. The proposed scheme is effective, which is proven by simulation results.https://www.aimspress.com/article/doi/10.3934/mbe.2023441?viewType=HTMLstate constraintspartial differential equationsevent-triggered controlbarrier lyapunov function |
| spellingShingle | Tongyu Wang Yadong Chen Event-triggered control of flexible manipulator constraint system modeled by PDE Mathematical Biosciences and Engineering state constraints partial differential equations event-triggered control barrier lyapunov function |
| title | Event-triggered control of flexible manipulator constraint system modeled by PDE |
| title_full | Event-triggered control of flexible manipulator constraint system modeled by PDE |
| title_fullStr | Event-triggered control of flexible manipulator constraint system modeled by PDE |
| title_full_unstemmed | Event-triggered control of flexible manipulator constraint system modeled by PDE |
| title_short | Event-triggered control of flexible manipulator constraint system modeled by PDE |
| title_sort | event triggered control of flexible manipulator constraint system modeled by pde |
| topic | state constraints partial differential equations event-triggered control barrier lyapunov function |
| url | https://www.aimspress.com/article/doi/10.3934/mbe.2023441?viewType=HTML |
| work_keys_str_mv | AT tongyuwang eventtriggeredcontrolofflexiblemanipulatorconstraintsystemmodeledbypde AT yadongchen eventtriggeredcontrolofflexiblemanipulatorconstraintsystemmodeledbypde |