Event-Triggered Logarithmic Sliding Mode Control for Discrete-Time Lagrangian Haptic Manipulator

Dailiang Shi, Bo Zhang, Hanlin Dong, Zhiqiang Ma, Zhengxiong Liu, Panfeng Huang

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

This brief investigates the problem involving the effective discrete-time tracking control of the accurate motion of a haptic manipulator. The model of the haptic manipulator is established by using the discrete-time Lagrangian mechanism for the accurate description of its motion on a digital computer, and its discrete-time dynamic response with a large sampling interval is approximate to the Runge-Kutta solution's response, better than that of the direct Euler-forward difference. The discrete-time logarithmic sliding mode control with parameter criteria, which is developed to refer to the discrete-time Lagrangian model, and the stable motion on the sliding surface is guaranteed by the comparison principle of monotonous difference. A discrete-time event-triggering mechanism is synthesized into the proposed logarithmic sliding mode controller to decrease the inter-execution times of commands to reduce the consumption of actuators. The effectiveness of the proposed method is verified by the simulation.

Original languageEnglish
Pages (from-to)3076-3080
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Volume71
Issue number6
DOIs
StatePublished - 1 Jun 2024

Keywords

  • discrete-time Lagrangian
  • Discrete-time logarithmic sliding mode control
  • event-triggered control
  • haptic manipulator
  • motion control

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