Adaptive Fault-tolerant Control for Mechanical Manipulator Systems with Actuator Fault

Chen, Yong; Guo, Boling; Zhang, Ke

doi:10.1007/s12555-021-0128-7

Cited by 2 publications

(1 citation statement)

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“…Furthermore, the various random disturbances present during the operation of robotic arm systems also constitute a significant influencing factor on system stability [29]. Researchers have conducted in-depth studies on issues such as actuator saturation, friction constraints, and external disturbances [30][31][32]. It is worth noting that dead-zone inputs, as a type of nonlinear non-smooth problem [33][34][35], frequently arise in industrial processes.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Command Filtered Tracking Control for Flexible Robotic Arm with Input Dead-Zone

Zhao,

Chang,

2023

Applied Sciences

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In this paper, an adaptive fuzzy tracking control method is proposed to address the issues of dead-zone and unobservable states in a flexible robotic arm system. The control design process begins with the utilization of a fuzzy logic system to approximate the nonlinear functions present in the flexible robotic arm system. To estimate the unobservable states of the system, a state observer is then designed. To alleviate the computational complexity during controller design, the command filtering technique is introduced. Additionally, the Nussbaum function is incorporated to address the unknown control gain problem. The stability of the system can be verified through the design of a Lyapunov function. This study’s simulation results demonstrate that the designed control system can closely track the specified reference signals. The closed-loop system effectively controls the flexible robotic arm, as verified through experimentation.

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