Robust Control Using Two Event-Triggered Mechanisms for Robot Manipulators

Abstract

This paper presents a new event-triggered robust control system for robot manipulators, leveraging two event-triggered mechanisms (ETMs) that enable intermittent communication in both the sensor-to-controller and controller-to-actuator channels. The proposed control system offers the advantage of utilizing fewer data transmission resources and requiring less signal update of the control actuators. The control system is designed with Lyapunov stability method. Moreover, the absence of zeno phenomenon during the triggering process is established. Practical experiments using a two-link robot manipulator system are conducted to validate the theoretical predictions.