Observer-Based Adaptive Fuzzy Event-Triggered Control for Mechatronic Systems With Inaccurate Signal Transmission and Motion Constraints
Observer-Based Adaptive Fuzzy Event-Triggered Control for Mechatronic Systems With Inaccurate Signal Transmission and Motion Constraints
复制标题
DOI：
10.1109/tmech.2022.3175969
复制
发表时间：
2022-12
期刊：
影响因子：
--
通讯作者：
Tong Yang;Xinli Zhang;Yongchun Fang;Ning Sun;M. Iwasaki
中科院分区：
文献类型：
--
作者：
Tong Yang;Xinli Zhang;Yongchun Fang;Ning Sun;M. Iwasaki
针对一类具有时滞、输入滞后和运动约束的Euler-Lagrange（EL）机电一体化系统，提出了一种自适应输出反馈控制器，同时引入事件触发机制以减少通信开销.在控制器设计过程中，所提出的方法不仅放宽了其他方法对模型结构的额外要求（例如，参数线性出现在动态或严格的三角/级联范式），但也估计不确定的动态和近似误差在线，而不是利用“大增益”或不连续的条款，以抑制其影响。针对电致发光系统中信号传输不准确的问题，提出了一种改进的模糊观测器，并通过精心设计辅助项，实现了对不可测变量的恢复，同时也解决了状态时滞问题。同时，采用Prandtl-Ishlinskii模型来模拟输入迟滞，并在线估计输入迟滞的未知参数，以提高跟踪精度。通过基于李雅普诺夫的稳定性分析，证明了误差信号总是被限制在预先设定的约束之内，并且渐近收敛到零。据我们所知，对于EL系统，本文提出了第一个控制器，以解决不可靠的状态反馈，有限的工作空间，和输入/输出非线性的综合影响，在实践中，也消除跟踪误差与理论保证。更重要的是，所采用的事件触发机制进一步提高了本文的实用性。最后，基于一个气动人工肌肉（PAM）驱动的机器人操作手，所提出的控制器的性能进行了验证，通过硬件实验。
This article presents an adaptive output feedback controller for a class of Euler–Lagrange (EL) mechatronic systems subject to time-delay, input hysteresis, and motion constraints; simultaneously, the event-triggered mechanism is introduced to decrease communication costs. During controller design, the proposed method not only relaxes additional requirements on the model structures by other methods (e.g., parameters linearly appearing in dynamics or strict triangular/cascade normal forms), but also estimates uncertain dynamics and approximation errors online, instead of utilizing “large-gain” or discontinuous terms to suppress their impacts. Regarding the inaccurate signal transmission of EL systems, this article presents a modified fuzzy observer with an elaborately designed auxiliary term, to recover unmeasurable variables and simultaneously deal with state time-delay. Meanwhile, the Prandtl–Ishlinskii model is employed to imitate input hysteresis, whose unknown parameters are also estimated online to improve tracking accuracy. By Lyapunov-based stability analysis, it is proven that the error signals are always limited within preset constraints and asymptotically converge to zero. As far as we know, for EL systems, this article proposes the first controller to address such comprehensive effects of unreliable state feedback, limited workspace, and input/output nonlinearities in practice, and also eliminate tracking errors with a theoretical guarantee. More importantly, the utilized event-triggered mechanism further improves the practicability of this article. Finally, based on a pneumatic artificial muscle (PAM)-actuated robot manipulator, the performance of the proposed controller is validated via hardware experiments.