Anti-Disturbance Dynamic Memory Event-Triggered Control for Robotic Manipulator Systems

This study investigates the H∞ anti-disturbance dynamic memory event-triggered (ADDMET) control issue for Robotic Manipulator System (RMS) under multiple disturbances. An affine model is adopted to characterize the RMS, accounting for payload variations and complex operating conditions. An observer is designed to estimate and compensate for disturbances caused by modeling uncertainties and external perturbations. Based on the proposed observer, a dynamic memory event-triggered mechanism (DMETM) and an H∞ anti-disturbance event-triggered controller are developed. This conserves communication resources and reduces control effort. Sufficient conditions for the solvability of the H∞ ADDMET control problem are derived. Finally, a numerical simulation is established based on the affine model to validate the effectiveness of the proposed method.