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Volume 7 Issue 3
Apr.  2020

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2020  >  7(3): 725-734
Jiankun Sun, Jun Yang and Shihua Li, "Reduced-Order GPIO Based Dynamic Event-Triggered Tracking Control of a Networked One-DOF Link Manipulator Without Velocity Measurement," IEEE/CAA J. Autom. Sinica, vol. 7, no. 3, pp. 725-734, May 2020. doi: 10.1109/JAS.2019.1911738
Citation: Jiankun Sun, Jun Yang and Shihua Li, "Reduced-Order GPIO Based Dynamic Event-Triggered Tracking Control of a Networked One-DOF Link Manipulator Without Velocity Measurement," IEEE/CAA J. Autom. Sinica, vol. 7, no. 3, pp. 725-734, May 2020. doi: 10.1109/JAS.2019.1911738
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Reduced-Order GPIO Based Dynamic Event-Triggered Tracking Control of a Networked One-DOF Link Manipulator Without Velocity Measurement

doi: 10.1109/JAS.2019.1911738
Funds:  The work was supported in part by the National Natural Science Foundation of China (61473080, 61573099, 61973080, 61750110525, 61633003)
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    Abstract
  • In networked robot manipulators that deeply integrate control, communication and computation, the controller design needs to take into consideration the limited or costly system resources and the presence of disturbances/uncertainties. To cope with these requirements, this paper proposes a novel dynamic event-triggered robust tracking control method for a one-degree of freedom (DOF) link manipulator with external disturbance and system uncertainties via a reduced-order generalized proportional-integral observer (GPIO). By only using the sampled-data position signal, a new sampled-data robust output feedback tracking controller is proposed based on a reduced-order GPIO to attenuate the undesirable influence of the external disturbance and the system uncertainties. To save the communication resources, we propose a discrete-time dynamic event-triggering mechanism (DETM), where the estimates and the control signal are transmitted and computed only when the proposed discrete-time DETM is violated. It is shown that with the proposed control method, both tracking control properties and communication properties can be significantly improved. Finally, simulation results are shown to demonstrate the feasibility and efficacy of the proposed control approach.

     

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    Highlights

    • The proposed tracking control method does not need the velocity measurement.
    • The proposed robust control method can attenuate the undesirable influence of the lumped disturbance on communication properties and tracking control properties in the framework of the DETM.
    • The proposed control method is suitable for digital applications, since both the proposed robust output feedback tracking controller and the novel DETM are in discrete-time form.

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