Zhao Xuena, Zhang Shuang, Liu Zhijie, Li Qing
IEEE Trans Cybern. 2022 Aug;52(8):7591-7601. doi: 10.1109/TCYB.2020.3041727. Epub 2022 Jul 19.
This article focuses on flexible single-link manipulators (FSLMs) under boundary control and in-domain control. The actuators of the system include the dc motor at the end of the joint and m piezoelectric controllers installed at the flexible link, which is regarded as an Euler-Bernoulli beam. The problem of the infinite number of actuator failures, including the partial loss of the effectiveness and total loss of effectiveness, is solved by the adaptive compensation method. By introducing the relative threshold strategy, the event-triggered control (ETC) scheme is proposed to achieve angle regulation and vibration suppression while reducing the communication burden between the controllers and the actuators. The Lyapunov direct method is utilized to prove that the system is uniformly ultimately bounded and both the angular tracking error and elastic displacement converge to a neighborhood of zero. Numerical simulation results are provided to demonstrate the effectiveness of the proposed control law.
本文聚焦于边界控制和域内控制下的柔性单连杆机械手（FSLM）。该系统的执行器包括关节末端的直流电机和安装在柔性连杆上的m个压电控制器，柔性连杆被视为欧拉 - 伯努利梁。通过自适应补偿方法解决了包括部分有效性损失和完全有效性损失在内的无限数量执行器故障问题。通过引入相对阈值策略，提出了事件触发控制（ETC）方案，以在减少控制器与执行器之间通信负担的同时实现角度调节和振动抑制。利用李雅普诺夫直接法证明系统是一致最终有界的，并且角度跟踪误差和弹性位移都收敛到零的邻域。提供了数值模拟结果以证明所提出控制律的有效性。
