Distributed Event-Triggered Control for Manipulator with Fixed-Time Disturbance Observer

Abstract

This article studies an event-triggered fixed-time trajectory tracking control problem of an n-joint manipulator system. Firstly, a fixed-time disturbance observer is proposed to reconstruct the total disturbance composed of external disturbances and model uncertainties, using the estimation as feedforward compensation to enhance the system robustness. Subsequently, based on the backstepping framework, a fixed-time controller with an event-triggering mechanism is designed for the manipulator to ensure the convergence of tracking errors to zero within a fixed time. Additionally, two event-triggering conditions are devised to reduce the transmission time of control input and the computation time of control output. Simultaneously, Zeno behavior is excluded through theoretical proof, validating the fixed-time stability of the closed-loop system. Finally, simulation verification is conducted on a two-joint manipulator, with results confirming the effectiveness of the control strategy.

Keywords

• n-joint manipulator system
• trajectory tracking control
• disturbance observer
• event-triggered
• fixed-time stability