Adaptive event-triggered control of multiple robotic manipulators with predefined performance

摘要

Abstract A In this paper, adaptive event-triggered control with predefined performance is proposed for multiple robotic manipulators under disturbances. The existing performance control often needs to check whether the initial state is satisfied or not which undoubtedly increases the workload greatly. In response, this paper designs a new predefined performance control (PPC) that satisfies all initial states. Although existing event triggers can reduce communication resources, it often neglects the control performance. Therefore, this paper designs the relative threshold dynamic event triggering (DETM) based on the change of system error to realize the balance of control performance and communication resources. Finally, the effectiveness of the proposed method is demonstrated by simulation results. The proposed PPC satisfies the performance constraints of different states of the robotic manipulator. And the DETM reduces communication resources by more than 98%.