PDE-based boundary event-triggered control of uncertain flexible manipulator with input nonlinearities

Bo Xu, Yuan Xin Li, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This study focuses on a novel event-triggered boundary control design of an uncertain flexible manipulator subject to input constraints and external disturbances. To this end, a novel boundary control law is developed based on the Lyapunov stability theory to suppress elastic deflection and regulate the manipulator to track the desired angular position. Moreover, to approximate the unknown functions and compensate for the effect of input constraints, the neural network technique is adopted with an arbitrarily adjustable approximating error. Simultaneously, the event-triggering mechanism is incorporated with a controller design to alleviate the communication load and the execution rate of the actuator. Lastly, numerical simulations are performed to demonstrate the effectiveness of the derived scheme.

Original languageEnglish
Pages (from-to)10229-10246
Number of pages18
JournalNonlinear Dynamics
Issue number11
Publication statusPublished - 2023 Jun

Bibliographical note

Publisher Copyright:
© 2023, The Author(s), under exclusive licence to Springer Nature B.V.


  • Event-triggered control (ETC)
  • External disturbances
  • Flexible manipulators
  • Input nonlinearities
  • Partial differential equations (PDE)

ASJC Scopus subject areas

  • Mechanical Engineering
  • Aerospace Engineering
  • Ocean Engineering
  • Applied Mathematics
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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