Adaptive Fuzzy Event-Triggered Tracking Control of Flexible-Joint Robot Systems: Design and Experiment

In this paper, the problem of adaptive fuzzy tracking control for a class of flexible-joint robot systems is investigated. For the control of flexible-joint robot systems, many control programs still need to be improved and not practically applied, while most of the control programs can not achieve the purpose of saving resources. Therefore, based on the existing research, in order to realize a more effective and flexible control of flexible-joint robot systems, while saving resources, this paper carries out the following system design. Firstly, in order to realize the high performance of the flexible-joint robot systems and reduce the uncertainties during their operations, this article adopts the adaptive tracking control strategy and backstepping technique. Secondly, a dynamic event-triggered mechanism is designed which saves resources. In addition, fuzzy logic system is utilized to approximate unknown nonlinear function. Further, with the help of backstepping technique and Lyapunov stability theorem, it is proved that all signals of the closed-loop system are bounded and Zeno behavior does not occur. Finally, this paper applied the designed control scheme to the 2-link flexible-joint robot of Quanser Company platform, and the trajectory tracking, system states, and system control outputs diagrams in the experimental results all show that the control strategy designed in this paper is effective and has practical application value.