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.

本文研究了一类串联弹性致动器系统的事件触发自适应控制。为了解决这个问题，首先我们提出了一种具有新颖的一步设计框架的自适应控制方案，使得控制器表达式和参数估计器都比相关的现有递归设计方法简单得多。然后设计一组事件触发条件，为每次触发更新。控制设计不需要 ISS 假设。结果表明，所提出的控制方案保证了所有闭环信号都是半全局有界的，并且稳定误差渐近收敛到原点。避免了芝诺行为。仿真结果说明了我们方案的有效性。