文章基本信息

标题：Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication
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作者：Yidao Ji ; Wei Wu ; Hang Fu 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2021
卷号：18
期号：2
页码：1-9
DOI：10.1177/1729881420939864
出版社：SAGE Publications
摘要：In this article, the networked filtering problem for a class of robotic manipulators with semi-Markov type parameters is investigated under the passivity framework. In particular, the mode-dependent quantization and event-triggered communication scheme are both proposed for increasing the network transmission efficiency. Sufficient stability conditions are first derived by choosing mode-dependent Lyapunov–Krasovskii functionals. Then, the mode-dependent filter gains and the event-triggering parameters are further designed with the help of matrix convex optimization. In the end, a simulation example is provided such that the effectiveness of the proposed filtering method can be well demonstrated.
关键词：Semi-Markov manipulator ; networked filtering ; mode-dependent quantization ; mode-dependent event-triggered communication