Boundary adaptive fault-tolerant control for a flexible Timoshenko arm with backlash-like hysteresis

被引：154

作者：

Zhao, Zhijia ^{[1
]}

Liu, Zhijie ^{[2
]}

He, Wei ^{[2
]}

Hong, Keum-Shik ^{[3
]}

Li, Han-Xiong ^{[4
]}

机构：

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

[2] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China

[3] Pusan Natl Univ, Sch Mech Engn, 2 Busandaehak Ro, Busan 46241, South Korea

[4] City Univ Hong Kong, Dept Syst Engn & Engn Management, Hong Kong, Peoples R China

来源：

AUTOMATICA | 2021年 / 130卷

基金：

中国国家自然科学基金; 新加坡国家研究基金会;

关键词：

Timoshenko arm; Adaptive fault-tolerant control; Actuator failure; Backlash-like hysteresis; Vibration control; NONLINEAR-SYSTEMS; WIENER SYSTEMS; IDENTIFICATION; STABILIZATION; BEAM;

D O I：

10.1016/j.automatica.2021.109690

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study is concerned with a novel adaptive fault-tolerant control design for a flexible Timoshenko arm considering the effects of actuator failures, backlash-like hysteresis, and external disturbances. First, the actuator failures and backlash-like hysteresis are integrated together and resolved into desired control signals and nonlinear errors. Second, these errors and external disturbances are deemed as composite disturbance terms to be handled with adaptive techniques. Third, adaptive fault-tolerant controllers with online updates are established to eliminate the shear deformation and elastic oscillation, lay the arm in a desired angle, counteract the hybrid effects of actuator failures and hysteresis, and deal with the uncertainty of composite disturbances. Then, based on the Lyapunov's stability theory, the proposed strategy guarantees the uniformly bounded stability in the controlled system. Finally, numerical examples are presented to illustrate the efficacy of the suggested scheme. (C) 2021 Elsevier Ltd. All rights reserved.

引用

页数：8

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