Adaptive Event-Triggered Boundary Control for a Flexible Manipulator With Input Quantization

In this article, an adaptive event-triggered boundary control scheme is proposed for a flexible single-link manipulator (FSLM) system with communication constraints. The hysteresis quantizer with unknown parameters is applied to the control input, which brings a negative effect on the control performance. To reduce the communication burden, we take into account a relative threshold event-triggered mechanism. An adaptive strategy is adopted to compensate for the quantization error and evaluate the unknown parameters. In terms of the Lyapunov direct method, the angle tracking error and the vibration displacement of the FSLM are proved to exponentially converge to the neighborhood of zero. Furthermore, the performance of the developed control algorithm is presented by numerical simulations and experiments.