Event Triggered Feedback Linearization Sliding Mode Control for Trajectory Tracking by Multi-joint Robotic Manipulator

摘要

In order to make the multi-joint robotic robot trajectory tracking control system resource-saving and reliable, an event-triggered control scheme based on feedback linearized sliding mode controller (FLSMC) is proposed. To improve the system robustness to unknown disturbances, the FLSMC is presented by adding sliding mode surface to the feedback linearization algorithm. And to avoiding the redundancy in control signal generation, the event-triggering condition is developed by introducing the event-triggered control frame, the control signal is updated only when the condition is satisfied, It is no longer necessary to generate fixed periodic signal frequently at each sampling time. The stability of the event-triggered FLSMC trajectory tracking control system and no Zeno behaviours in the system are proved. The event triggered scheme guarantees the trajectory hits the sliding manifold and remains ultimately bounded; the theoretical results are verified by simulation tests, the frequency of the communication and computation are reduced observably.