In this article, the networked filtering problem for a class of robotic manipulators with semi-Markov type parameters is investigated under the passivity framework. In particular, the mode-dependent quantization and event-triggered communication scheme are both proposed for increasing the network transmission efficiency. Sufficient stability conditions are first derived by choosing mode-dependent Lyapunov–Krasovskii functionals. Then, the mode-dependent filter gains and the event-triggering parameters are further designed with the help of matrix convex optimization. In the end, a simulation example is provided such that the effectiveness of the proposed filtering method can be well demonstrated.

本文在无源框架下研究了一类具有半马尔可夫型参数的机械手的网络滤波问题。特别地，都提出了模式相关的量化和事件触发的通信方案，以提高网络传输效率。首先通过选择依赖于模式的Lyapunov–Krasovskii泛函来导出足够的稳定性条件。然后，借助矩阵凸优化进一步设计了与模式相关的滤波器增益和事件触发参数。最后，提供了一个仿真示例，从而可以很好地证明所提出的滤波方法的有效性。