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

Wang, Lijun; Zhang, Dan; Liu, Jinkun; Huang, Haifeng; Shi, Qiuyue; Liu, Ningxi

doi:10.1177/0142331219854865

Cited by 11 publications

(13 citation statements)

References 23 publications

(19 reference statements)

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“…For this, we have investigated the robust control problem and we have considered both actuator and sensor faults in presence of external disturbances. Nevertheless, for the same application, the authors in Wang et al (2019) have considered only the actuator faults.…”

Section: Illustrative Examplesmentioning

confidence: 99%

Robust fault tolerant control based on adaptive observer for Takagi-Sugeno fuzzy systems with sensor and actuator faults: Application to single-link manipulator

Makni

Bouattour

Chaabane

2020

Transactions of the Institute of Measurement and Control

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In this work, we investigate the problem of control for nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy models affected by both sensor and actuator faults subject to an unknown bounded disturbances (UBD). For this, we design an adaptive observer to estimate state, sensor and actuator fault vectors simultaneously despite the presence of external disturbances. Based on this observer, we develop a fault tolerant control (FTC) law not only to stabilize closed loop system, but also to compensate the fault effects. For the observer-based controller design, we propose less conservative conditions formulated in terms of linear matrix inequalities (LMIs). Moreover, both observer and controller gains are calculated via solving a set of LMIs only in single step. Finally, comparative results and an application to single-link flexible joint robot are afforded to prove the efficiency of the proposed design.

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Section: Illustrative Examplesmentioning

confidence: 99%

Robust fault tolerant control based on adaptive observer for Takagi-Sugeno fuzzy systems with sensor and actuator faults: Application to single-link manipulator

Makni

Bouattour

Chaabane

2020

Transactions of the Institute of Measurement and Control

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“…The main advantage of BCM is that it can suppress the mismatched uncertainties through a step-by-step recursive process [16]. Some BCM-based methods for FJM have been developed, such as BCM-based adaptive control [17], BCMbased fault-tolerant control [18], BCM-based neural network control [19], BCM-based intelligent control [20] and BCMbased L2-gain control [21]. For conventional BCM, the computations needed for back-stepping is very tedious and complicated, this is so called the problem of "differential explosion".…”

Section: Introductionmentioning

confidence: 99%

“…Then an adaptive fault-tolerant control for FJM based on DSM was proposed [24], and the complex differential calculation for 1 •3• backstepping in [17][18][19][20][21] can be avoid by the low-pass filter. However, in order to complete the step-by-step recursive process, the BCM-based and DSM-based controllers in [17][18][19][20][21]24] not only need to measure the states of link, but also need the states of motor for feedback. Thus, the measurement systems for the controllers in [17][18][19][20][21] are much more complex than the measurement system for the conventional RRM controller which only needs the states of link.…”

Section: Introductionmentioning

confidence: 99%

“…However, in order to complete the step-by-step recursive process, the BCM-based and DSM-based controllers in [17][18][19][20][21]24] not only need to measure the states of link, but also need the states of motor for feedback. Thus, the measurement systems for the controllers in [17][18][19][20][21] are much more complex than the measurement system for the conventional RRM controller which only needs the states of link.…”

Section: Introductionmentioning

confidence: 99%

“…The DSM not only can suppress the mismatched uncertainties by the step-bystep recursive process like BCM, but also adopt a low-pass filter to avoid the explosiveness of backstepping. Then an adaptive fault-tolerant control for FJM based on DSM was proposed [24], and the complex differential calculation for 1 •3• backstepping in [17][18][19][20][21] can be avoid by the low-pass filter. However, in order to complete the step-by-step recursive process, the BCM-based and DSM-based controllers in [17][18][19][20][21]24] not only need to measure the states of link, but also need the states of motor for feedback.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Spiking-Free HGO-Based Dynamic Surface Control for Flexible Joint Manipulator with Unmeasurable States

Kong¹,

Wang²,

Yan³

2020

Preprint

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For the flexible joint manipulator control system (FJMCS) with unmeasurable states, a novel partial states feedback control (PSFC) is proposed. Firstly, the unmeasurable states and the uncertainties are observed by a high-gain observer (HGO) simultaneously. Then, a dynamic surface controller is proposed based on the output of the HGO. The newly proposed controller has several advantages over existing methods. First, the proposed controller not only uses the estimate states to avoid using unmeasurable states, but also uses the estimation of uncertainties to enhance the robustness of FJMCS. Second, a novel spike suppression function (SSF) is developed to avoid the estimation spike problem in the existing HGO-based controllers. The closed-loop system stability is proved by the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed controller.

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Extended‐state‐observer‐based dynamic surface control of flexible‐joint robot systems with input saturation

Lian

Wang

2021

Adaptive Control & Signal

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This article presents an extended-state-observer-based dynamic surface control approach for flexible-joint robot systems with asymmetric input saturation and large unknown dynamic knowledge. Traditional controllers for flexible-joint robot systems usually use approximation technology to deal with unknown dynamics knowledge. Unlike the traditional control algorithm, this article utilizes an extended state observer to estimate the unknown dynamics.For the closed-loop system, the delay strategy handles the time-scale separation issue, the filtering system overcomes the "explosion of differentiation" caused by the repeated differentiation of auxiliary control signals, and the mean-value-theorem solves the input saturation problem of the actuator. The stability analysis implies that estimation errors of extended state observers (ESOs) and other state variables are semiglobally uniformly ultimately bounded.Compared with fuzzy control algorithms, the novel ESO-based dynamic surface control approach not only omits online learning time but also uses only a few control parameters to obtain satisfactory tracking performance. Finally, a comparison simulation experiment is provided to illustrate the effectiveness of the gained conclusions.

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

Cited by 11 publications

References 23 publications

Robust fault tolerant control based on adaptive observer for Takagi-Sugeno fuzzy systems with sensor and actuator faults: Application to single-link manipulator

Robust fault tolerant control based on adaptive observer for Takagi-Sugeno fuzzy systems with sensor and actuator faults: Application to single-link manipulator

Spiking-Free HGO-Based Dynamic Surface Control for Flexible Joint Manipulator with Unmeasurable States

Extended‐state‐observer‐based dynamic surface control of flexible‐joint robot systems with input saturation

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