Event-triggered boundary quantization control for flexible manipulator based on partial differential equations dynamic model

In this paper, we consider boundary control for a single-link flexible manipulator system described by partial differential equations (PDEs). Existing researches on controller design rarely consider the problem of communication capacity constrains during signal transmission. To deal with this problem, an adaptive control is designed to achieve the input quantization by using the random quantizer. Besides, a triggering event is addressed on the basis of relative threshold strategy for relieving communication load between controller and actuator. The proposed scheme is able to ensure that all closed-loop signals are globally uniformly bounded, and the angular tracking error and vibration converge to a residual set. Simulation results are presented to illustrate the effectiveness of the proposed scheme.