Adaptive Event-triggered Control of a Class of Series Elastic Actuator System
- Resource Type
- Article
- Authors
- Tingting Gao; Jiangshuai Huang; Rui Ling; Yong Zhou
- Source
- International Journal of Control, Automation, and Systems, 19(7), pp.2536-2543 Jul, 2021
- Subject
- 제어계측공학
- Language
- English
- ISSN
- 2005-4092
1598-6446
In this paper, the event-triggered adaptive control for a class of series elastic actuator systems is considered. To solve this problem, firstly we propose an adaptive control scheme with a novel one-step design framework such that both the controller expression and parameter estimator are much simpler than related existing recursive design approaches. Then a set of event-triggering conditions is designed which is updated for each triggering. The ISS assumption is not needed for control design. It is shown that the proposed control schemes guarantee that allthe closed-loop signals are semi-globally bounded and the stabilization error converges to the origin asymptotically. The Zeno behavior is avoided. Simulation results illustrate the effectiveness of our scheme.