Adaptive Event-Triggered Control for Flexible Manipulators With Input Backlash and Prescribed Performance

Zhijia Zhao; Rourou Xu; Shouyan Chen; Zhijie Liu; Xuefeng Zhou; Han-Xiong Li

doi:10.1109/TSMC.2025.3577749

Adaptive Event-Triggered Control for Flexible Manipulators With Input Backlash and Prescribed Performance

Zhijia Zhao, Rourou Xu, Shouyan Chen^*, Zhijie Liu, Xuefeng Zhou^*, Han-Xiong Li

^*Corresponding author for this work

Department of Systems Engineering

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

1 Citation (Scopus)

Abstract

This study presents an adaptive event-triggered control methodology for flexible manipulator systems with prescribed performance and input backlash. To reduce the communication burden between the controllers and actuators, we consider a relative threshold event-triggered mechanism. Then, an adaptive inverse function is applied to eliminate the input backlash of the actuator, and a neural network is adopted to handle the system uncertainty. It is proven that the proposed control approach not only ensures the tracking error converges to a small region close to zero within the prescribed time but also significantly reduces overshoot by using Lyapunov’s direct method. Furthermore, the efficacy of the scheme proposed is demonstrated through numerical simulations and experiments. © 2025 IEEE.

Original language	English
Pages (from-to)	6073-6084
Number of pages	12
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	55
Issue number	9
Online published	24 Jun 2025
DOIs	https://doi.org/10.1109/TSMC.2025.3577749
Publication status	Published - Sept 2025

Funding

This work was supported in part by the National Natural Science Foundation of China under Grant 62273112, Grant 62473039, Grant 62433011, and Grant 62473102; in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2023B1515120018 and Grant 2023B1515120019; in part by the Science and Technology Planning Project of Guangzhou, China under Grant 2025A03J3135 and Grant 2025A04J5629; in part by the Joint Fund of Ministry of Education for Equipment Pre-Research under Grant 8091B03032303; and in part by Beijing Nova Program under Grant 20240484561.

Research Keywords

Event detection
Vibrations
Adaptive systems
Manipulator dynamics
Control systems
Trajectory tracking
Convergence
Actuators
Transient analysis
Uncertainty
Adaptive control
event-triggered control
flexible manipulator
input backlash
prescribed performance

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title = "Adaptive Event-Triggered Control for Flexible Manipulators With Input Backlash and Prescribed Performance",

abstract = "This study presents an adaptive event-triggered control methodology for flexible manipulator systems with prescribed performance and input backlash. To reduce the communication burden between the controllers and actuators, we consider a relative threshold event-triggered mechanism. Then, an adaptive inverse function is applied to eliminate the input backlash of the actuator, and a neural network is adopted to handle the system uncertainty. It is proven that the proposed control approach not only ensures the tracking error converges to a small region close to zero within the prescribed time but also significantly reduces overshoot by using Lyapunov{\textquoteright}s direct method. Furthermore, the efficacy of the scheme proposed is demonstrated through numerical simulations and experiments. {\textcopyright} 2025 IEEE.",

keywords = "Event detection, Vibrations, Adaptive systems, Manipulator dynamics, Control systems, Trajectory tracking, Convergence, Actuators, Transient analysis, Uncertainty, Adaptive control, event-triggered control, flexible manipulator, input backlash, prescribed performance",

author = "Zhijia Zhao and Rourou Xu and Shouyan Chen and Zhijie Liu and Xuefeng Zhou and Han-Xiong Li",

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T1 - Adaptive Event-Triggered Control for Flexible Manipulators With Input Backlash and Prescribed Performance

AU - Zhao, Zhijia

AU - Xu, Rourou

AU - Chen, Shouyan

AU - Liu, Zhijie

AU - Zhou, Xuefeng

AU - Li, Han-Xiong

PY - 2025/9

Y1 - 2025/9

N2 - This study presents an adaptive event-triggered control methodology for flexible manipulator systems with prescribed performance and input backlash. To reduce the communication burden between the controllers and actuators, we consider a relative threshold event-triggered mechanism. Then, an adaptive inverse function is applied to eliminate the input backlash of the actuator, and a neural network is adopted to handle the system uncertainty. It is proven that the proposed control approach not only ensures the tracking error converges to a small region close to zero within the prescribed time but also significantly reduces overshoot by using Lyapunov’s direct method. Furthermore, the efficacy of the scheme proposed is demonstrated through numerical simulations and experiments. © 2025 IEEE.

AB - This study presents an adaptive event-triggered control methodology for flexible manipulator systems with prescribed performance and input backlash. To reduce the communication burden between the controllers and actuators, we consider a relative threshold event-triggered mechanism. Then, an adaptive inverse function is applied to eliminate the input backlash of the actuator, and a neural network is adopted to handle the system uncertainty. It is proven that the proposed control approach not only ensures the tracking error converges to a small region close to zero within the prescribed time but also significantly reduces overshoot by using Lyapunov’s direct method. Furthermore, the efficacy of the scheme proposed is demonstrated through numerical simulations and experiments. © 2025 IEEE.

KW - Event detection

KW - Vibrations

KW - Adaptive systems

KW - Manipulator dynamics

KW - Control systems

KW - Trajectory tracking

KW - Convergence

KW - Actuators

KW - Transient analysis

KW - Uncertainty

KW - Adaptive control

KW - event-triggered control

KW - flexible manipulator

KW - input backlash

KW - prescribed performance

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M3 - RGC 21 - Publication in refereed journal

SN - 2168-2216

VL - 55

SP - 6073

EP - 6084

JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems

JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems

IS - 9

ER -

Adaptive Event-Triggered Control for Flexible Manipulators With Input Backlash and Prescribed Performance

Abstract

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Research Keywords

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