Event Triggered Control of Robot Manipulator

Abstract

This paper deals with designing event triggered nonlinear controllers for robot manipulators. To track the desired path trajectory of manipulator system, sliding mode control is studied and event triggering mechanism is developed. The objective of event triggered control is to ensure efficient utilization of resources by minimizing the control updates. Utilizing above concepts, event triggered sliding mode controller (ET-SMC) is designed and thereby its performance is analyzed on robot manipulator. ET-SMC utilizes sliding mode control concepts and thereby even in presence of disturbance, steady state trajectories of robot manipulator are bounded. Further comparison is done on the basis of performance of ET-SMC and event triggered computed torque (ET-CT) controller. Simulations and results for above controllers are obtained. It is seen that tracking error norm is always less than norm of state dependent threshold. It is observed that performance, in terms of control efforts, tracking performance and inter-execution time, of ET-SMC is better than ET-CT.