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| 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 |
| 投稿时间：2023-12-04 修订日期：2024-03-22 |
| DOI： |
| 中文关键词: 机械臂系统 事件触发控制 采样控制 同步判据 |
| 英文关键词: Manipulator systems Event trigger control Sampling control Synchronization criteria |
| 基金项目:国家自然科学基金（61603174）；福建省自然科学基金（2020J01793） |
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| 中文摘要: |
| 针对主-从机械臂系统的同步问题，提出了一种非周期间歇事件触发采样控制方案。非周期间歇事件触发采样控制方案由含有固定阈值的事件触发条件和非周期间歇事件触发采样控制器组成。控制器只需在满足事件触发条件时对监测到的状态误差进行采样并更新，可以减少通信负担，节省通信资源。基于李雅普诺夫理论基础推导出使主-从机械臂系统达到同步状态的代数同步判据。含有固定阈值的触发条件和非周期间歇事件触发采样控制器是协同设计的，保证了所提出的控制方案可以避免芝诺行为。最后，通过对双连杆机械臂系统进行数值模拟，验证了所提出的控制方案是有效的。 |
| 英文摘要: |
| To solve the synchronization problem of master-slave manipulator systems, an aperiodically intermittent event triggering 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 controller 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 that the proposed control scheme can avoid Zeno behavior. Finally, through numerical simulations of the two-link manipulator systems, the proposed control scheme is proved to be effective. |
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