@inproceedings{0e635e07142f4e60acc7f6271724a80f,
title = "Event-Triggered Adaptive Control for Practically Finite-Time Position-Constrained Tracking of Space Robot Manipulators",
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",
language = "英语",
isbn = "9783031138430",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "470--481",
editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",
booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",
}