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.

调零动力学（ZD）最初是为解决时变问题而提出并进行研究的。由于其收敛性和准确性方面的优势，ZD已成功扩展到各个领域，包括自动控制，机器人技术和数值计算。在本文中，我们通过提出事件触发策略来提高ZD的实用性，进一步提出了一种新颖的事件触发归零动力学（ETZD）。ETZD吸收了事件触发策略的优势，不仅可以显着减少计算量，而且可以保持ZD的原始优势。为了更好地理解，我们采用ETZD来设计一种流行类型的机器人操纵器（即Stewart平台）的特定运动控制器。通过Lyapunov分析介绍并分析了运动控制器的稳定性。