research-article

Event Triggered Feedback Linearization Sliding Mode Control for Trajectory Tracking by Multi-joint Robotic Manipulator

Authors:

Qian QianAuthors Info & Claims

RICAI '19: Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

Pages 33 - 40

https://doi.org/10.1145/3366194.3366201

Published: 20 September 2019 Publication History

Abstract

In order to make the multi-joint robotic robot trajectory tracking control system resource-saving and reliable, an event-triggered control scheme based on feedback linearized sliding mode controller (FLSMC) is proposed. To improve the system robustness to unknown disturbances, the FLSMC is presented by adding sliding mode surface to the feedback linearization algorithm. And to avoiding the redundancy in control signal generation, the event-triggering condition is developed by introducing the event-triggered control frame, the control signal is updated only when the condition is satisfied, It is no longer necessary to generate fixed periodic signal frequently at each sampling time. The stability of the event-triggered FLSMC trajectory tracking control system and no Zeno behaviours in the system are proved. The event triggered scheme guarantees the trajectory hits the sliding manifold and remains ultimately bounded; the theoretical results are verified by simulation tests, the frequency of the communication and computation are reduced observably.

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Cited By

Nath KBera M(2022)Integral sliding mode control of networked robotic manipulator: a dynamic event-triggered designAdvanced Robotics10.1080/01691864.2022.212325537:1-2(141-153)Online publication date: 23-Sep-2022
https://doi.org/10.1080/01691864.2022.2123255
Wang SYin XZhang YLi PWen H(2022)Event-Triggered Cognitive Control for Networked Control Systems Subject to DoS Attacks and Time DelayArabian Journal for Science and Engineering10.1007/s13369-022-07068-x48:5(6991-7004)Online publication date: 20-Aug-2022
https://doi.org/10.1007/s13369-022-07068-x
Nuevo-Gallardo CTraver JTejado IVinagre B(2022)Path Following for Purcell’s Swimmers: An Event-Based Control ApproachCONTROLO 202210.1007/978-3-031-10047-5_43(487-497)Online publication date: 2-Jul-2022
https://doi.org/10.1007/978-3-031-10047-5_43

Index Terms

Event Triggered Feedback Linearization Sliding Mode Control for Trajectory Tracking by Multi-joint Robotic Manipulator
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic components
      2. Robotic control

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RICAI '19: Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

September 2019

803 pages

ISBN:9781450372985

DOI:10.1145/3366194

Copyright © 2019 ACM.

© 2019 Association for Computing Machinery. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 20 September 2019

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RICAI 2019

RICAI 2019: 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

September 20 - 22, 2019

Shanghai, China

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RICAI '19 Paper Acceptance Rate 140 of 294 submissions, 48%;

Overall Acceptance Rate 140 of 294 submissions, 48%

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Cited By

Nath KBera M(2022)Integral sliding mode control of networked robotic manipulator: a dynamic event-triggered designAdvanced Robotics10.1080/01691864.2022.212325537:1-2(141-153)Online publication date: 23-Sep-2022
https://doi.org/10.1080/01691864.2022.2123255
Wang SYin XZhang YLi PWen H(2022)Event-Triggered Cognitive Control for Networked Control Systems Subject to DoS Attacks and Time DelayArabian Journal for Science and Engineering10.1007/s13369-022-07068-x48:5(6991-7004)Online publication date: 20-Aug-2022
https://doi.org/10.1007/s13369-022-07068-x
Nuevo-Gallardo CTraver JTejado IVinagre B(2022)Path Following for Purcell’s Swimmers: An Event-Based Control ApproachCONTROLO 202210.1007/978-3-031-10047-5_43(487-497)Online publication date: 2-Jul-2022
https://doi.org/10.1007/978-3-031-10047-5_43
Behera ABandyopadhyay BCucuzzella MFerrara AYu X(2021)A Survey on Event-Triggered Sliding Mode ControlIEEE Journal of Emerging and Selected Topics in Industrial Electronics10.1109/JESTIE.2021.30879382:3(206-217)Online publication date: Jul-2021
https://doi.org/10.1109/JESTIE.2021.3087938

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