Adaptive fault-tolerant control for a joint flexible manipulator based on dynamic surface-Reference-Cited by-同舟云学术

Adaptive fault-tolerant control for a joint flexible manipulator based on dynamic surface

Published:2019-06-17 Issue:15 Volume:41 Page:4240-4253
ISSN:0142-3312
Container-title:Transactions of the Institute of Measurement and Control
language:en
Short-container-title:Transactions of the Institute of Measurement and Control

Author:

Wang Lijun¹²,Zhang Dan¹²^ORCID,Liu Jinkun³^ORCID,Huang Haifeng¹²,Shi Qiuyue¹²,Liu Ningxi¹²

Affiliation:

1. School of Automation & Electrical Engineering, University of Science and Technology Beijing, China

2. Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, University of Science and Technology Beijing, China

3. School of Automation Science and Electrical Engineering, Beihang University, China

Abstract

In order to solve the problem of actuator failure of flexible joint manipulator, adaptive fault-tolerant control for a flexible manipulator with bounded disturbance is proposed, both actuator partial failure and actuator stuck are considered. The control lows are devised by means of the dynamic surface technique, and the bounded disturbance is compensated via the design of robust items. The stability of the control system is guaranteed via the Lyapunov method. The effectiveness of the theoretical schemes is finally verified by two simulation examples.

Funder

national natural science foundation of china

Beijing Key Disciplines to Build Projects

Publisher

SAGE Publications

Subject

Instrumentation

Link

http://journals.sagepub.com/doi/pdf/10.1177/0142331219854865

Reference22 articles.

1. Adaptive PID actuator fault tolerant control of single-link flexible manipulator

2. Approximate Back-Stepping Fault-Tolerant Control of the Flexible Air-Breathing Hypersonic Vehicle