Input saturated multi-robot fuzzy dynamic event-triggered control method and system

Abstract

This invention discloses a fuzzy dynamic event-triggered control method and system for multi-robotic arms with input saturation, relating to the field of multi-robotic arm collaborative control technology. Addressing the shortcomings of existing technologies such as insufficient adaptive event triggering thresholds, imperfect input saturation compensation, heavy computational burden in handling unknown nonlinearities, and neglect of electrical dynamics in the model, this invention establishes a third-order rigorous feedback robotic arm model incorporating DC motor dynamics and defines a distributed lead-follow synchronization error; constructs an input saturation auxiliary compensation system and designs an adaptive dynamic event triggering mechanism associated with the synchronization error; and designs a controller using a backstepping method combined with a fuzzy logic system with minimum learning parameters, approximating the unknown nonlinearity through a single scalar parameter adaptive law. This invention significantly reduces communication consumption and computational burden while ensuring high-precision collaborative tracking, effectively compensates for input saturation, and ensures that the closed-loop system signal is consistent, ultimately bounded, and free of Zeno behavior, making it suitable for industrial multi-robotic arm collaborative operation scenarios.

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