Fault-Estimation Design Based on an Iterative Learning Scheme for Interconnected Multi-Flexible Manipulator Systems with Arbitrary Initial Value

Author:

Feng Li1,Chen Guangxi1ORCID,Xu Shuiqing2,Du Kenan3

Affiliation:

1. College of Traffic and Transportation, Chongqing Jiaotong University, Chongqing 400074, China

2. College of Electrical and Automation Engineering, Hefei University of Technology, Hefei 230009, China

3. College of Automation, Chongqing University, Chongqing 401331, China

Abstract

This paper reports the design of an iterative-learning-scheme-based fault-estimation method for interconnected nonlinear multi-flexible manipulator systems with arbitrary initial value. For state estimation, observers are employed to reconstruct the state. The proposed scheme ensures that each flexible manipulator subsystem’s states can track their desired reference signals within a finite time. In the next step, an iterative learning fault-estimation law is proposed to track the actual fault signal. In contrast to the previous literature, this approach utilizes potential information from previous iterations to enhance the accuracy of the estimation in the current iteration. Based on these efforts, the obstacle caused by the arbitrary initial value is circumvented, and addressing the fault-estimation errors of each flexible manipulator subsystem are uniformly ultimately bounded is successfully achieved. Then, the λ-norm is developed to explore the convergence conditions of the presented methods. Finally, the effectiveness and feasibility of the proposed approach are verified through assessment of simulation results.

Funder

Natural Science Foundation of Chongqing

Science and Technology Research Program of Chongqing Municipal Education Commission

National Key Research and Development Project

State Key Laboratory of Industrial Control Technology

Research Project on Teaching Reform of Graduate Education

Publisher

MDPI AG

Subject

Control and Optimization,Control and Systems Engineering

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