Event-Triggered Control for Hamiltonian-Based Flexible-Joints Robots

This paper focuses on the event-triggered tracking control problem for Hamiltonian-based flexible-joints robots. Based on Hamiltonian theory and the delay system approach, an event-triggered modular control strategy is proposed to guarantee that the link and motor generalized position can track the target signal asymptotically while reducing the waste of transmission resources. The modular controller designed in this paper takes fully into account the structural characteristics of the flexible-joints robots. Moreover, the difficulties of tracking control and event-triggered control caused by the high coupling of Hamiltonian systems are overcome in the design process. This extends the existing theoretical results for flexible-joints robots and effectively improves energy efficiency. The validity of the proposed strategy is verified by a simulation example of a flexible joint robot.