通过间歇事件触发采样控制实现主-从机械臂系统的同步  

Synchronization of Master-slave Manipulator Systems via Intermittent Event Triggered Sampling Control

作　　者：张丽钇 马米花 ZHANG Liyi;MA Mihua(School of Mathematics and Statistics,Minnan Normal University,Zhangzhou 363000,China)

机构地区：[1]闽南师范大学数学与统计学院,福建漳州363000

出　　处：《海南师范大学学报(自然科学版)》2024年第4期399-407,共9页Journal of Hainan Normal University(Natural Science)

基　　金：国家自然科学基金项目(61603174);福建省自然科学基金项目(2020J01793)。

摘　　要：针对主-从机械臂系统的同步问题,提出了一种非周期间歇事件触发采样控制方案。非周期间歇事件触发采样控制方案由含有固定阈值的事件触发条件和非周期间歇事件触发采样控制器组成。控制器只需在满足事件触发条件时对监测到的状态误差进行采样并更新,可以减少通信负担,节省通信资源。基于李雅普诺夫理论推导出使主-从机械臂系统达到同步状态的代数同步判据。含有固定阈值的触发条件和非周期间歇事件触发采样控制器协同设计,确保了所提出的控制方案避免芝诺行为。最后,通过对双连杆机械臂进行数值模拟,验证了所提出的控制方案是有效的。To solve the synchronization problem of master-slave manipulator systems,an aperiodically intermittent event trigger-ing sampling control scheme is proposed.The aperiodically intermittent event triggering sampling control scheme consists of an event triggering condition with a fixed threshold and an aperiodically intermittent event triggering sampling contrller.The control-ler only needs to sample and update the detected state errors when the event triggering condition is met,which can reduce the communication burden and save communication resources.On the basis of Lyapunov theory,algebraic synchronization criteria are derived to make the master-slave manipulator systems achieve synchronization.The trigger condition with fixed threshold and the aperiodically intermitent event trigger sampling controller are co-designed to ensure the proposed control scheme to avoid Zeno behavior.Finally,through numerical simulations of the two-link manipulator systems,the proposed control scheme is proved to be effective.

关 键 词：机械臂系统 事件触发控制 采样控制 同步判据 

分 类 号：O231.2[理学—运筹学与控制论]