Proceedings of the Institution of Mechanical Engineers - Part I, ( ISI ), Volume (236), No (5), Year (2022-5) , Pages (927-943)

Title : ( Event-triggered formation control of n-link networked stochastic robotic manipulators )

Authors: ALI AZARBAHRAM , Naser Pariz , Mohammad Bagher Naghibi Sistani , Reihaneh Kardehi Moghaddam ,

Citation: BibTeX | EndNote

Abstract

This article proposes an event-triggered control framework to satisfy the tracking formation performance for a group of uncertain non-linear n-link robotic manipulators. The robotic manipulators are configured as a multi-agent system and they communicate over a directed graph (digraph). Furthermore, the non-linear robotic manipulator-multi-agent systems are subject to stochastic environmental loads. By introducing extra virtual controllers in the final step of the backstepping design, a total number of n event-triggering mechanisms are introduced independently for each link of all the robotic manipulator agents to update the control inputs in a fully distributed manner. More precisely, the actuator of each link of a particular agent is capable of being updated independent of other link actuator updates. A rigorous proof of the convergence of all the closed-loop signals in probability is then given and the Zeno phenomenon is excluded for the control event-triggered architectures. The simulation experiments finally quantify the effectiveness of proposed approach in terms of reducing the number of control updates and handling the stochastic environmental loads.

Keywords

, Event-triggered control, networked control systems, uncertain non-linear dynamics, stochastic non-linear systems, multi-agent systems, robotic manipulators
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@article{paperid:1088237,
author = {AZARBAHRAM, ALI and Pariz, Naser and Naghibi Sistani, Mohammad Bagher and Reihaneh Kardehi Moghaddam},
title = {Event-triggered formation control of n-link networked stochastic robotic manipulators},
journal = {Proceedings of the Institution of Mechanical Engineers - Part I},
year = {2022},
volume = {236},
number = {5},
month = {May},
issn = {0959-6518},
pages = {927--943},
numpages = {16},
keywords = {Event-triggered control; networked control systems; uncertain non-linear dynamics; stochastic non-linear systems; multi-agent systems; robotic manipulators},
}

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%0 Journal Article
%T Event-triggered formation control of n-link networked stochastic robotic manipulators
%A AZARBAHRAM, ALI
%A Pariz, Naser
%A Naghibi Sistani, Mohammad Bagher
%A Reihaneh Kardehi Moghaddam
%J Proceedings of the Institution of Mechanical Engineers - Part I
%@ 0959-6518
%D 2022

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