Affiliation:
1. The School of Mechanical and Electrical Engineering Guangzhou University Guangzhou China
2. Greatoo (Guangzhou) Robots And Intelligent Manufacturing Co.,Ltd Guangzhou China
3. The School of Control Science and Engineering Shandong University Jinan China
Abstract
AbstractThis study investigates a novel tracking control with prescribed performance for an uncertain nonlinear 2‐DOF helicopter subject to actuator failure. The control design aims to address partial actuator faults, and to mitigate their effects, an adaptive auxiliary variable is introduced. Additionally, a neural network is employed to accurately approximate the system uncertainties. The prescribed performance is formulated as time‐varying constraints, and the barrier Lyapunov function (BLF) technique is applied to achieve the constrained control. Finally, the stability analysis of the closed‐loop system is provided, and the validity of the proposed control scheme is illustrated through a simulation study on the 2‐DOF helicopter system.
Publisher
Institution of Engineering and Technology (IET)