Communication-Efficient Event-Triggered Time-Delay Control and Its Application to Robot Manipulators

Abstract

This paper proposes a communicationefficient event-triggered time-delay control (ET-TDC) scheme, which is more intelligent, consumes less network resources, and is more suitable for practical applications, such as network control systems, over bandwidth-limited communication channels. The proposed controller ensures a fast convergence rate and high tracking performance because it is based on TDCs that are well-known for achieving high tracking performance. To maintain such properties, the proposed control scheme adopts a performance-preserving ET strategy, whereby the communication efforts between the controllers and actuators can be significantly reduced. The ET condition of the proposed controller is devised to ensure the system stability by using a Lyapunov function. Finally, the performance of the proposed ET-TDC is demonstrated through a numerical simulation and an experiment using a two-link robot manipulator.