Asymptotical event-based input-output constrained boundary control of flexible manipulator agents under a signed digraph  

作　　者：Xiangqian YAO Xiangmin XU Wei HE Yu LIU 

机构地区：[1]School of Future Technology,South China University of Technology,Guangzhou 511442,China [2]School of Automation and Institute of Artificial Intelligence,Beijing Information Science and Technology University,Beijing 102206,China [3]School of Intelligence Science and Technology,University of Science and Technology Beijing,Beijing 100083,China [4]School of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,China

出　　处：《Science China(Information Sciences)》2025年第4期315-331,共17页中国科学(信息科学)(英文版)

基　　金：supported in part by Key Program of National Natural Science Foundation of China(Grant No.62433011);Guangdong Basic and Applied Basic Research Foundation(Grant No.2021B1515120017)。

摘　　要：This article tackles the boundary event-based bipartite consensus tracking control problem for the flexible manipulator multi-agent network over a signed diagraph.Each follower agent is the flexible manipulator with unknown disturbances,modeling uncertainties,input saturations and backlashes,and asymmetric output constraints.To reduce the continuous updating of control inputs,a new dynamic event-triggering mechanism is used.Under multiple constraints,achieving the asymptotic convergence point by point in space of the manipulator's vibration state is a control challenge.To solve this issue,we propose a new asymptotic convergence lemma.In control design,radial basis neural networks are employed to estimate nonlinear uncertain terms and the barrier Lyapunov function is used to accomplish the output constraints.Based on the Lyapunov direct method,a novel distributed boundary event-based control algorithm is designed to guarantee that the closed-loop network can reach the asymptotical bipartite consensus tracking and vibration suppression.Moreover,Zeno behaviors can be excluded for each agent.Finally,some numerical results are presented to demonstrate the validity and superiority of the designed control algorithm.

关 键 词：flexible-link manipulator input-output constraint EVENT-BASED asymptotical bipartite tracking vibration control 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]