We investigate the event-triggered tracking control of networked manipulator in the presence of external disturbance and a variety of system uncertainties. The event-triggered controller is designed by the nonlinear disturbance observer–based control approach, which can dynamically compensate for both errors caused by disturbances and the undesirable effects caused by event-triggering rules. A rigorous Lyapunov stability analysis method is proposed to show that the boundedness of all the signals in the closed-loop system can be guaranteed while in the absence of the input-to-state stability assumption related to measurement errors, tracking error can be constrained to an arbitrarily small set without escaping. Finally, by some simulation results, the feasibility and effectiveness of the proposed control approach is demonstrated.

中文翻译：

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基于扰动观测器的网络机器人机械手事件触发跟踪控制

我们研究了在存在外部干扰和各种系统不确定性的情况下网络机械手的事件触发跟踪控制。事件触发控制器采用基于非线性干扰观测器的控制方法设计，可以动态补偿干扰引起的误差和事件触发规则引起的不良影响。提出了一种严格的李雅普诺夫稳定性分析方法，表明闭环系统中所有信号的有界性都可以得到保证，而在没有与测量误差相关的输入到状态稳定性假设的情况下，跟踪误差可以约束为一个任意小的集合而不会逃逸。最后，通过一些仿真结果，证明了所提出的控制方法的可行性和有效性。