IEEE Trans Cybern. 2022 Dec;52(12):12905-12915. doi: 10.1109/TCYB.2021.3091531. Epub 2022 Nov 18.
An adaptive fuzzy control strategy is proposed for a single-link flexible-joint robotic manipulator (SFRM) with prescribed performance, in which the unknown nonlinearity is identified by adopting the fuzzy-logic system. By designing a performance function, the transient performance of the control system is guaranteed. To stabilize the SFRM, a dynamic signal is applied to handle the unmodeled dynamics. To cut down the communication load of the channel, the event-triggered control law is developed based on the switching threshold strategy. The Lyapunov stability theory and backstepping technique are applied coordinately to design the control strategy. The semiglobally ultimately uniformly boundedness can be ensured for all signals in the closed-loop system. The designed control method can also guarantee that the tracking error can converge to a small neighborhood of zero within the prescribed performance boundaries. At the end of the article, two illustrative examples are shown to validate the designed event-triggered controller.
提出了一种具有规定性能的单连杆柔性关节机器人（SFRM）的自适应模糊控制策略，其中采用模糊逻辑系统来识别未知的非线性。通过设计性能函数，保证了控制系统的暂态性能。为了稳定 SFRM，应用动态信号来处理未建模的动态。为了减少通道的通信负载，根据切换阈值策略开发了事件触发控制律。应用 Lyapunov 稳定性理论和回溯技术协同设计控制策略。可以确保闭环系统中所有信号的半全局最终一致有界。所设计的控制方法还可以保证跟踪误差在规定的性能边界内收敛到零的小邻域内。在文章的最后，给出了两个说明性的例子来验证所设计的事件触发控制器。
