Dynamic Event-Triggered Adaptive Control of a Flexible Manipulator With Output Quantization

This study presents a novel adaptive dynamic eventtriggered quantized control strategy for a flexible manipulator system. Initially, output signal is quantized using a uniform quantizer that account for the communication burden and bandwidth constraints. Subsequently, a dynamic event-triggered mechanism is devised to further decrease the frequency of control input communication. The proposed control strategy enables the angular tracking and tip vibration of the flexible manipulator system to exponentially converge to a small compact set under limited communication. Finally, the effectiveness of the design scheme is demonstrated through simulations and experimental validations.