Dynamic Event-Triggered Control for Flexible Joint Robot Based on Fully Actuated System Approach

In this article, the high-order fully actuated (HOFA) system approach is applied to study the matrix threshold strategy dynamic event-triggered control problem of a single-link flexible joint robot system (SFJRS). First, the SFJRS is transformed into an HOFA system model by using the recursive "ascending dimension and descending order" method. On this basis, different from the traditional method based on the state-space model, a novel matrix threshold strategy dynamic event-triggered control scheme based on the HOFA system approach is proposed, which not only simplifies the control design but also greatly saves communication resources. It is proved that the closed-loop systems are asymptotically stable under the proposed control strategy. Finally, the superiority of the HOFA system approach and the matrix threshold strategy dynamic event-triggered control method is demonstrated through two different simulation experiments.