This work was supported in part by National Natural Science Foundation of China (Grant Nos. 61803085, 61921004, 61931020) and National Key RD Program of China (Grant No. 2018AAA0101400).
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Figure 1
(Color online) The proposed event-triggered RHAC structure.
Figure 2
(Color online) Comparison of the state trajectories for the single-link robot arm system with Gaussian sensor noise.
Figure 3
(Color online) Event-triggered RHAC algorithm for the single-link robot arm system with Gaussian sensor noise. (a) Evolution of the control input; (b) comparison of trigger error $||e_j||$ and trigger threshold $||e_T||$; (c) cumulative number of events.
Figure 4
(Color online) Comparison of the state trajectories for the single-link robot arm system with uniform actuator noise.
Figure 5
(Color online) Event-triggered RHAC algorithm for the single-link robot arm system with uniform actuator noise. (a) Evolution of the control input; (b) comparison of trigger error $||e_j||$ and trigger threshold $||e_T||$; (c) cumulative number of events.
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