海南师范大学学报（自然科学版）2024，Vol.37Issue(4)：399-407,9.DOI:10.12051/j.issn.1674-4942.2024.04.001
通过间歇事件触发采样控制实现主-从机械臂系统的同步
Synchronization of Master-slave Manipulator Systems via Intermittent Event Triggered Sampling Control
摘要
Abstract
To solve the synchronization problem of master-slave manipulator systems,an aperiodically intermittent event trigger-ing sampling control scheme is proposed.The aperiodically intermittent event triggering sampling control scheme consists of an event triggering condition with a fixed threshold and an aperiodically intermittent event triggering sampling controller.The control-ler only needs to sample and update the detected state errors when the event triggering condition is met,which can reduce the communication burden and save communication resources.On the basis of Lyapunov theory,algebraic synchronization criteria are derived to make the master-slave manipulator systems achieve synchronization.The trigger condition with fixed threshold and the aperiodically intermittent event trigger sampling controller are co-designed to ensure the proposed control scheme to avoid Zeno behavior.Finally,through numerical simulations of the two-link manipulator systems,the proposed control scheme is proved to be effective.关键词
机械臂系统/事件触发控制/采样控制/同步判据Key words
manipulator systems/event trigger control/sampling control/synchronization criteria分类
数理科学引用本文复制引用
张丽钇,马米花..通过间歇事件触发采样控制实现主-从机械臂系统的同步[J].海南师范大学学报（自然科学版）,2024,37(4):399-407,9.基金项目
国家自然科学基金项目(61603174) （61603174）
福建省自然科学基金项目(2020J01793) （2020J01793）
