Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators

Zhiwei Hao; Xiaokui Yue; Li Liu; Shuzhi Sam Ge

doi:10.1007/978-3-031-13844-7_45

Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators

Zhiwei Hao, Xiaokui Yue, Li Liu, Shuzhi Sam Ge

School of Astronautics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper investigates the problem of event-triggered adaptive tracking control for space manipulator systems under pre-determined position constraints. This control scheme aims to overcome external perturbations, reduce the burden of data-transmission, and achieve constrained tracking. Focusing on the constraints of system performance, quadratic Lyapunov functions (QLF) are stitched with a set of asymmetric time-receding horizons (TRH) with fixed settling time, serving as a sufficient condition for the practically prescribed finite-time stability (PPFS) of target plants. By introducing event-triggered conditions, the control signals are transformed into non-periodically updated variables, promoting signaling efficiency while preserving the desired system performance. Complex nonlinearities are integrated and compensated adaptively, providing an ingenious design process and simplifying the construction of the controller. Finally, simulations demonstrate the effectiveness of the proposed scheme.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
Editors	Honghai Liu, Weihong Ren, Zhouping Yin, Lianqing Liu, Li Jiang, Guoying Gu, Xinyu Wu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	470-481
Number of pages	12
ISBN (Print)	9783031138430
DOIs	https://doi.org/10.1007/978-3-031-13844-7_45
State	Published - 2022
Event	15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 - Harbin, China Duration: 1 Aug 2022 → 3 Aug 2022

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13455 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Country/Territory	China
City	Harbin
Period	1/08/22 → 3/08/22

Keywords

Adaptive control
Event-triggered mechanism
Robot manipulators
Time-receding horizon

Access to Document

10.1007/978-3-031-13844-7_45

Cite this

Hao, Z., Yue, X., Liu, L., & Ge, S. S. (2022). Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators. In H. Liu, W. Ren, Z. Yin, L. Liu, L. Jiang, G. Gu, & X. Wu (Eds.), Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings (pp. 470-481). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13455 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-13844-7_45

Hao, Zhiwei ; Yue, Xiaokui ; Liu, Li et al. / Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators. Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. editor / Honghai Liu ; Weihong Ren ; Zhouping Yin ; Lianqing Liu ; Li Jiang ; Guoying Gu ; Xinyu Wu. Springer Science and Business Media Deutschland GmbH, 2022. pp. 470-481 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "This paper investigates the problem of event-triggered adaptive tracking control for space manipulator systems under pre-determined position constraints. This control scheme aims to overcome external perturbations, reduce the burden of data-transmission, and achieve constrained tracking. Focusing on the constraints of system performance, quadratic Lyapunov functions (QLF) are stitched with a set of asymmetric time-receding horizons (TRH) with fixed settling time, serving as a sufficient condition for the practically prescribed finite-time stability (PPFS) of target plants. By introducing event-triggered conditions, the control signals are transformed into non-periodically updated variables, promoting signaling efficiency while preserving the desired system performance. Complex nonlinearities are integrated and compensated adaptively, providing an ingenious design process and simplifying the construction of the controller. Finally, simulations demonstrate the effectiveness of the proposed scheme.",

keywords = "Adaptive control, Event-triggered mechanism, Robot manipulators, Time-receding horizon",

author = "Zhiwei Hao and Xiaokui Yue and Li Liu and Ge, {Shuzhi Sam}",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",

year = "2022",

doi = "10.1007/978-3-031-13844-7_45",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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pages = "470--481",

editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",

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Hao, Z, Yue, X, Liu, L & Ge, SS 2022, Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators. in H Liu, W Ren, Z Yin, L Liu, L Jiang, G Gu & X Wu (eds), Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13455 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 470-481, 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, Harbin, China, 1/08/22. https://doi.org/10.1007/978-3-031-13844-7_45

Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators. / Hao, Zhiwei; Yue, Xiaokui; Liu, Li et al.
Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. ed. / Honghai Liu; Weihong Ren; Zhouping Yin; Lianqing Liu; Li Jiang; Guoying Gu; Xinyu Wu. Springer Science and Business Media Deutschland GmbH, 2022. p. 470-481 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13455 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ge, Shuzhi Sam

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AB - This paper investigates the problem of event-triggered adaptive tracking control for space manipulator systems under pre-determined position constraints. This control scheme aims to overcome external perturbations, reduce the burden of data-transmission, and achieve constrained tracking. Focusing on the constraints of system performance, quadratic Lyapunov functions (QLF) are stitched with a set of asymmetric time-receding horizons (TRH) with fixed settling time, serving as a sufficient condition for the practically prescribed finite-time stability (PPFS) of target plants. By introducing event-triggered conditions, the control signals are transformed into non-periodically updated variables, promoting signaling efficiency while preserving the desired system performance. Complex nonlinearities are integrated and compensated adaptively, providing an ingenious design process and simplifying the construction of the controller. Finally, simulations demonstrate the effectiveness of the proposed scheme.

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KW - Time-receding horizon

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PB - Springer Science and Business Media Deutschland GmbH

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Hao Z, Yue X, Liu L, Ge SS. Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators. In Liu H, Ren W, Yin Z, Liu L, Jiang L, Gu G, Wu X, editors, Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. Springer Science and Business Media Deutschland GmbH. 2022. p. 470-481. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-031-13844-7_45