Adaptive Control of a Flexible Manipulator with Unknown Hysteresis and Intermittent Actuator Faults

被引：0

作者：

Chen, Shouyan ^{[1
]}

He, Weitian ^{[2
]}

Zhao, Zhijia ^{[1
]}

Feng, Yun ^{[3
,4
]}

Liu, Zhijie ^{[5
]}

Hong, Keum-Shik ^{[6
]}

机构：

[1] Guangzhou Univ, Sch Mech & Elect Engn, Guangzhou 510006, Peoples R China

[2] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China

[3] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China

[4] Hunan Univ, Natl Engn Res Ctr Robot Visual Percept & Control T, Changsha 410082, Peoples R China

[5] Univ Sci & Technol Beijing USTB, Sch Intelligence Sci & Technol, Beijing 100083, Peoples R China

[6] Qingdao Univ, Inst Future, Sch Automat, Qingdao 266071, Peoples R China

来源：

IEEE-CAA JOURNAL OF AUTOMATICA SINICA | 2025年 / 12卷 / 01期

基金：

新加坡国家研究基金会; 中国国家自然科学基金;

关键词：

Actuators; Adaptation models; Fault tolerance; Additives; Fault tolerant systems; Artificial neural networks; Control systems; Numerical simulation; Hysteresis; Manipulator dynamics; Adaptive control; flexible manipulator; intermittent actuator faults; inverse hysteresis dynamics; vibration control; UNCERTAIN NONLINEAR-SYSTEMS; TRACKING CONTROL; COMPENSATION; PLANTS;

D O I：

10.1109/JAS.2024.124653

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second, a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently, by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally, the effectiveness of the proposed scheme is verified through numerical simulations and experiments.

引用

页码：148 / 158

页数：11

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