SciELO - Scientific Electronic Library Online

vol.9 número4Control ADRC Predictivo utilizando LMIModelamiento de orden fraccional de un sistema no lineal electromecánico índice de autoresíndice de materiabúsqueda de artículos
Home Pagelista alfabética de revistas  

Servicios Personalizados




Links relacionados

  • No hay articulos similaresSimilares en SciELO


Enfoque UTE

versión On-line ISSN 1390-6542versión impresa ISSN 1390-9363


BENITEZ-GARCIA, Saúl Enrique  y  VILLARREAL-CERVANTES, Miguel Gabriel. Event-Triggered Control for a Three DoF Manipulator Robot. Enfoque UTE [online]. 2018, vol.9, n.4, pp.33-44. ISSN 1390-6542.

In the classical approach of Time-Triggered Control (TTC), the control signal is updated at each sampling time as well as the system states to be controlled, which could imply a redundancy in the computational calculation as well as in the transfer of information in the regulation objective. On the other hand, the Event-Triggered Control (ETC) approach performs the same task in an asynchronous way, i.e,, it only updates the control signal when a performance requirement is violated and the states are updated at each sampling time. This reduces the amount of computational calculation without affecting the performance of the closed loop system. For this reason, in the present work the ETC is developed for the stabilization of a manipulator robot with three Degree of Freedom (DoF) in the joint space where a Lyapunov Control Function (LCF) is proposed to formulate the event function (e¯), which indicates whether or not is required the control signal updating. Simulation results show the reduction of the updates compared with a TTC.

Palabras clave : Event-Triggered Control; Time-Triggered Control; Manipulator Robot; Lyapunov Control Function; Event Function..

        · resumen en Español     · texto en Inglés     · Inglés ( pdf )