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.
In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme.To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation. of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints. Asian J
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