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Event-triggered zeroing dynamics for motion control of Stewart platform

Yunong Zhang, Huanchang Huang, Shuai Li Orcid Logo, Jian Li, Liangyu He

Journal of the Franklin Institute

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1016/j.jfranklin.2020.02.060

Abstract

Zeroing dynamics (ZD) was originally proposed and investigated for solving time-varying problems. Due to its advantages in convergence and accuracy, ZD has been successfully extended to various areas, including automatic control, robotics and numerical computation. In this paper, we further propose...

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Published in: Journal of the Franklin Institute
ISSN: 0016-0032
Published: Elsevier BV
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URI: https://cronfa.swan.ac.uk/Record/cronfa53923
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first_indexed 2020-04-09T13:58:47Z
last_indexed 2020-09-17T03:17:26Z
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spelling 2020-04-09T08:53:39.1080830 v2 53923 2020-04-09 Event-triggered zeroing dynamics for motion control of Stewart platform 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2020-04-09 MECH Zeroing dynamics (ZD) was originally proposed and investigated for solving time-varying problems. Due to its advantages in convergence and accuracy, ZD has been successfully extended to various areas, including automatic control, robotics and numerical computation. In this paper, we further propose a novel one called event-triggered zeroing dynamics (ETZD) by incorporating the event-triggered strategy to improve the practicability of ZD. Absorbing the advantages of event-triggered strategy, ETZD can not only significantly reduce the consumption on computation but also maintain the original advantages of ZD. For better understanding, we employ ETZD to design a specific motion controller of a popular type of robot manipulators (i.e., Stewart platform). The stability of the motion controller is presented and analyzed via Lyapunov analysis. Furthermore, two different shaped path tracking tasks are executed in numerical experiments, and compared with conventional ZD controllers, to illustrate the advantage in convergence, accuracy and practicability of ETZD controller. Journal Article Journal of the Franklin Institute Elsevier BV 0016-0032 Zeroing dynamics, Event-triggered strategy, Motion control, Stewart platform, Simulative experiments 0 0 0 0001-01-01 10.1016/j.jfranklin.2020.02.060 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University 2020-04-09T08:53:39.1080830 2020-04-09T08:53:39.1080830 Yunong Zhang 1 Huanchang Huang 2 Shuai Li 0000-0001-8316-5289 3 Jian Li 4 Liangyu He 5 53923__17034__a258f108f75f46fda597e8c07e9c1852.pdf 53923.pdf 2020-04-09T08:55:52.9067743 Output 2239681 application/pdf Accepted Manuscript true 2021-04-08T00:00:00.0000000 © 2020. This manuscript version is made available under the CC-BY-NC-ND 4.0 license. true eng http://creativecommons.org/licenses/by-nc-nd/4.0/
title Event-triggered zeroing dynamics for motion control of Stewart platform
spellingShingle Event-triggered zeroing dynamics for motion control of Stewart platform
Shuai Li
title_short Event-triggered zeroing dynamics for motion control of Stewart platform
title_full Event-triggered zeroing dynamics for motion control of Stewart platform
title_fullStr Event-triggered zeroing dynamics for motion control of Stewart platform
title_full_unstemmed Event-triggered zeroing dynamics for motion control of Stewart platform
title_sort Event-triggered zeroing dynamics for motion control of Stewart platform
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Yunong Zhang
Huanchang Huang
Shuai Li
Jian Li
Liangyu He
format Journal article
container_title Journal of the Franklin Institute
institution Swansea University
issn 0016-0032
doi_str_mv 10.1016/j.jfranklin.2020.02.060
publisher Elsevier BV
document_store_str 1
active_str 0
description Zeroing dynamics (ZD) was originally proposed and investigated for solving time-varying problems. Due to its advantages in convergence and accuracy, ZD has been successfully extended to various areas, including automatic control, robotics and numerical computation. In this paper, we further propose a novel one called event-triggered zeroing dynamics (ETZD) by incorporating the event-triggered strategy to improve the practicability of ZD. Absorbing the advantages of event-triggered strategy, ETZD can not only significantly reduce the consumption on computation but also maintain the original advantages of ZD. For better understanding, we employ ETZD to design a specific motion controller of a popular type of robot manipulators (i.e., Stewart platform). The stability of the motion controller is presented and analyzed via Lyapunov analysis. Furthermore, two different shaped path tracking tasks are executed in numerical experiments, and compared with conventional ZD controllers, to illustrate the advantage in convergence, accuracy and practicability of ETZD controller.
published_date 0001-01-01T04:03:32Z
_version_ 1756418709528772608
score 10.930179

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