{"title":"Dynamic Event-Triggered Adaptive Fuzzy Leader–Follower Consensus Control of State-Constrained Flexible-Joint Manipulators","authors":"","doi":"10.1007/s40815-023-01641-8","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>This article investigates the leader–follower consensus problem of state-constrained flexible-joint manipulators. Many uncertainties exhibit in flexible-joint manipulators, which brings a great challenge to the leader–follower consensus control design, especially considering state constraints. In this work, a nonlinear state-dependent function is first constructed to deal with the full-state constraint problem. Then, a novel event-triggered adaptive fuzzy control strategy is presented by the function approximate technique, where a dynamic event-triggered mechanism is introduced to avoid continuous updates of the controller, and thereby control resources and communication burden can be effectively reduced. On the basis of Lyapunov stability analysis, it is proven that all error signals in the closed-loop systems are bounded, and the leader–follower consensus of flexible-joint manipulators is realized without violating full-state constraints. Simulation results and some comparisons are provided to validate the effectiveness of the presented control strategy.</p>","PeriodicalId":14056,"journal":{"name":"International Journal of Fuzzy Systems","volume":"31 1","pages":""},"PeriodicalIF":3.6000,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Fuzzy Systems","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1007/s40815-023-01641-8","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This article investigates the leader–follower consensus problem of state-constrained flexible-joint manipulators. Many uncertainties exhibit in flexible-joint manipulators, which brings a great challenge to the leader–follower consensus control design, especially considering state constraints. In this work, a nonlinear state-dependent function is first constructed to deal with the full-state constraint problem. Then, a novel event-triggered adaptive fuzzy control strategy is presented by the function approximate technique, where a dynamic event-triggered mechanism is introduced to avoid continuous updates of the controller, and thereby control resources and communication burden can be effectively reduced. On the basis of Lyapunov stability analysis, it is proven that all error signals in the closed-loop systems are bounded, and the leader–follower consensus of flexible-joint manipulators is realized without violating full-state constraints. Simulation results and some comparisons are provided to validate the effectiveness of the presented control strategy.
期刊介绍：
The International Journal of Fuzzy Systems (IJFS) is an official journal of Taiwan Fuzzy Systems Association (TFSA) and is published semi-quarterly. IJFS will consider high quality papers that deal with the theory, design, and application of fuzzy systems, soft computing systems, grey systems, and extension theory systems ranging from hardware to software. Survey and expository submissions are also welcome.
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