Passivity-based filtering for networked semi-Markov robotic manipulators with mode-dependent quantization and event-triggered communication. (11th March 2021)

• Record Type: Journal Article
• Authors: Ji, Yidao; Wu, Wei; Fu, Hang; Qiao, Hong
• Is Part Of: International journal of advanced robotic systems. Volume 18:Number 2(2021)
• Publication Date: 2021-03-11
• Subjects: Semi-Markov manipulator -- networked filtering -- mode-dependent quantization -- mode-dependent event-triggered communication; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420939864
• Languages: English
• ISSNs: 1729-8806

Abstract

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.