Event-triggered control of flexible manipulator constraint system modeled by PDE

The vibration suppression control of a flexible manipulator system modeled by partial differential equation (PDE) with state constraints is studied in this paper. On the basis of the backstepping recursive design framework, the problem of the constraint of joint angle and boundary vibration deflection is solved by using the Barrier Lyapunov function (BLF). Moreover, based on the relative threshold strategy, an event-triggered mechanism is proposed to save the communication workload between controller and actuator, which not only deals with the state constraints of the partial differential flexible manipulator system, but also effectively improves the system work efficiency. Good damping effect on vibration and the elevated system performance can be seen under the proposed control strategy. At the same time, the state can meet the constraints given in advance, and all system signals are bounded. The proposed scheme is effective, which is proven by simulation results.

Automated summary

This paper studies the vibration suppression control of a flexible manipulator system modeled by partial differential equation (PDE) with state constraints. The problem of joint angle constraint and boundary vibration deflection is solved using the Barrier Lyapunov function (BLF) based on the backstepping recursive design framework. Furthermore, an event-triggered mechanism is proposed based on the relative threshold strategy to save communication workload and improve system efficiency. Simulation results prove the effectiveness of the proposed control strategy in achieving good damping effect on vibration and elevated system performance.