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Event-triggered control of flexible manipulator constraint system modeled by PDE


  • Received: 03 February 2023 Revised: 04 March 2023 Accepted: 20 March 2023 Published: 28 March 2023
  • 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.

    Citation: Tongyu Wang, Yadong Chen. Event-triggered control of flexible manipulator constraint system modeled by PDE[J]. Mathematical Biosciences and Engineering, 2023, 20(6): 10043-10062. doi: 10.3934/mbe.2023441

    Related Papers:

  • 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.



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