Regular Papers

International Journal of Control, Automation and Systems 2021; 19(7): 2536-2543

Published online May 1, 2021

https://doi.org/10.1007/s12555-020-0220-4

© The International Journal of Control, Automation, and Systems

Adaptive Event-triggered Control of a Class of Series Elastic Actuator System

Tingting Gao, Jiangshuai Huang*, Rui Ling, and Yong Zhou

Chongqing University

Abstract

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 all the 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.

Keywords Adaptive control, event-triggered control, nonlinear systems, strict-feedback nonlinear system.

Article

Regular Papers

International Journal of Control, Automation and Systems 2021; 19(7): 2536-2543

Published online July 1, 2021 https://doi.org/10.1007/s12555-020-0220-4

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Event-triggered Control of a Class of Series Elastic Actuator System

Tingting Gao, Jiangshuai Huang*, Rui Ling, and Yong Zhou

Chongqing University

Abstract

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 all the 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.

Keywords: Adaptive control, event-triggered control, nonlinear systems, strict-feedback nonlinear system.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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