Proceedings ArticleDOI
An event-triggered based robust control of robot manipulator
Niladri Sekhar Tripathy,Indra Narayan Kar,Kolin Paul +2 more
- pp 425-430
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TLDR
Derivation of static event-triggering rule with a positive inter-event time and corresponding stability criteria for uncertain manipulator dynamics are the key contribution of this paper.Abstract:
This paper proposes a framework to design an event-triggered based robust control law for nonlinear uncertain robot manipulator. Load variations and unmodeled system dynamics of manipulator are the primary sources of both system and input uncertainties. A static event-triggering rule is employed to realize the proposed robust control law. Derivation of static event-triggering rule with a positive inter-event time and corresponding stability criteria for uncertain manipulator dynamics are the key contribution of this paper. Validation of proposed control technique is carried out numerically on a two-link SCARA type robot manipulator. Simulation results show that measurement error norm is always bounded by the state dependent threshold and also ensures that asymptotic convergence of manipulator states in the presence of both system and input uncertainty.read more
Citations
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Comparison of Riemann and Lebesque sampling for first order stochastic systems
TL;DR: In this article, it is shown that Lebesgue sampling gives better performance for some simple systems than traditional Riemann sampling, which is an analog of integration theory and is called event-based sampling.
Journal ArticleDOI
Event-Triggered Nonlinear Control of OWC Ocean Wave Energy Plant
TL;DR: The aim of event-triggered control is to minimize the control updates, thus providing efficient utilization of resources without compromising the OWC performance, and performance of theET-BSC is better than the ET-SMC in terms of defined indices, control effort, and inter-event execution time.
Journal ArticleDOI
Event-Triggered Adaptive Hybrid Position-Force Control for Robot-Assisted Ultrasonic Examination System
TL;DR: In this article, an adaptive motion-force control scheme for a networked ultrasound robotic manipulator to perform a transversal abdomen scan is presented, where an adaptive backstepping position controller is designed to ensure the stability of the ultrasound robot in the presence of parametric uncertainties and external disturbances.
Journal ArticleDOI
Model Based Robust Control Law for Linear Event-Triggered System
TL;DR: In this paper, a robust control law for linear uncertain systems is proposed, which is realized through both static and dynamic event-triggering approach to reduce the computation and communication usages.
Journal ArticleDOI
Robust Dynamic Event-triggered Control for Linear Uncertain System
TL;DR: In this article, the robust control law is designed by solving an optimal control problem and realized thorough a dynamic event-triggering mechanism to reduce the communication traffic, a dynamic variable is used to generate the eventtriggering law using Input-to-State Stability (ISS) criteria.
References
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Journal ArticleDOI
Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks
TL;DR: This note investigates a simple event-triggered scheduler based on the paradigm that a real-time scheduler could be regarded as a feedback controller that decides which task is executed at any given instant and shows how it leads to guaranteed performance thus relaxing the more traditional periodic execution requirements.
Proceedings ArticleDOI
An introduction to event-triggered and self-triggered control
TL;DR: An introduction to event- and self-triggered control systems where sensing and actuation is performed when needed and how these control strategies can be implemented using existing wireless communication technology is shown.
Book ChapterDOI
Input to State Stability: Basic Concepts and Results
TL;DR: This expository presentation addresses the precise formulation of questions of robustness with respect to disturbances, formulated in the paradigm of input to state stability, with an intuitive and informal presentation of the main concepts.
Proceedings ArticleDOI
Comparison of Riemann and Lebesgue sampling for first order stochastic systems
TL;DR: In this paper, it is shown that Lebesgue sampling gives better performance for some simple systems than traditional Riemann sampling, which is an analog of integration theory and is called event-based sampling.
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