The invention discloses a single-connecting-rod mechanical arm
system modeling and double-asynchronous
event trigger control design method. According to the method, random fluctuation of effective load
mass and rotational
inertia of a single-connecting-rod mechanical arm
system,
system interference and
bandwidth limitation and time
delay phenomena in a
signal transmission process are considered, a single-connecting-rod mechanical arm model is established by utilizing a Semi-Markov theory, and the double-asynchronous
event trigger control problem of the single-connecting-rod mechanical arm system is solved; the method comprises the following specific steps that firstly, random changes of effective load
mass and rotational
inertia are considered, and a model reflecting state changes of a single-connecting-rod mechanical arm system is established based on the Semi-Markov theory; then, designing an
event generator and a controller which are asynchronous with the system
modal information; furthermore, a
Lyapunov function depending on the system mode and the
residence time in the mode is constructed, stability analysis is conducted on the closed-loop single-connecting-rod mechanical arm system by means of a probability density function, and finally the obtained system random stability condition and the controller existence condition are expressed through a set of
linear matrix inequality LMI.