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Design and Development of Constrained Next-Generation Controller with and without Event Triggered Mechanism for Single Link Robot Arm

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Abstract

Automation of the industrial sector is increasing rapidly. Many industrial applications involve robotic manipulators in a networked environment with sensor and an actual plant via a communication channel. Control of the robot manipulator is a challenging task due to its nonlinearity and parameter uncertainty. However, due to the necessity of lesser bandwidth allocation and to eliminate network congestion, this paper focuses on the development of an event-triggered constrained next-generation robustness, tracking, disturbance rejection and, overall aggressiveness (RTDA) controller for a single link robot arm. The constraints on torque input and torque rate are considered and incorporated in the optimization problem using the Lagrange multiplier method. The proposed event-trigger based next-generation controller has simplicity, flexibility in tuning, and closed form solution similar to PID controllers and superior performance like predictive controllers. In addition, the incorporation of event-triggered mechanism has improved the bandwidth utilization. The performance of the proposed RTDA controller with and without event-triggered mechanism is compared with constrained DMC controller.

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Authors and Affiliations

  1. Instrumentation and Control Engineering Department, National Institute of Technology, 620015, Tiruchirappalli, India

    B. A. Haseena & K. Srinivasan

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  1. B. A. Haseena
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  2. K. Srinivasan
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Correspondence to K. Srinivasan.

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Haseena, B.A., Srinivasan, K. Design and Development of Constrained Next-Generation Controller with and without Event Triggered Mechanism for Single Link Robot Arm. Aut. Control Comp. Sci. 55, 407–418 (2021). https://doi.org/10.3103/S0146411621050035

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