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Event-Triggered Control for Trajectory Tracking by Robotic Manipulator

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Computational Intelligence: Theories, Applications and Future Directions - Volume I

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 798))

Abstract

A day-by-day increase in applications of robotic manipulators has led to an era when a variety of tasks are expected from a system with the consumption of least possible resources. One recent application is in cyber-physical space. Resource limitation is a problem, particularly when working in a cyber-physical architecture. With this in mind, aperiodic control techniques were introduced and developed upon. This was based on the fact that there always exists some redundancy in control signal generation which can be avoided. In this paper, we have introduced an event-triggered control technique for trajectory tracking by robotic manipulators. This technique is superior to uniform-interval controller as control computations are done only at instances when the system needs attention. This event-triggered approach is applied to a learning-based incremental PID controller to demonstrate the simplicity in application. Simulation results show the effectiveness of the proposed methodology for trajectory tracking.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Motilal Nehru National Institute of Technology, Allahabad, 211004, India

    Ankur Kamboj

  2. Department of Electrical Engineering, Indian Institute of Technology, Kanpur, 208016, India

    Narendra Kumar Dhar & Nishchal K. Verma

Authors
  1. Ankur Kamboj
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  2. Narendra Kumar Dhar
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  3. Nishchal K. Verma
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Corresponding author

Correspondence to Narendra Kumar Dhar .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur, Uttar Pradesh, India

    Nishchal K. Verma

  2. Department of Aerospace Engineering, Indian Institute of Technology Kanpur, Kanpur, Uttar Pradesh, India

    A. K. Ghosh

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Kamboj, A., Dhar, N.K., Verma, N.K. (2019). Event-Triggered Control for Trajectory Tracking by Robotic Manipulator. In: Verma, N., Ghosh, A. (eds) Computational Intelligence: Theories, Applications and Future Directions - Volume I. Advances in Intelligent Systems and Computing, vol 798. Springer, Singapore. https://doi.org/10.1007/978-981-13-1132-1_13

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