An Intelligent Fault-Tolerant Control Method for a Flexible-Link Manipulator with an Uncertain Dead-Zone and Intermittent Actuator Faults

Liang Cao, Shuangyin Liu () and Longqin Xu ()
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Liang Cao: College of Information Science and Technology, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China
Shuangyin Liu: College of Information Science and Technology, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China
Longqin Xu: College of Information Science and Technology, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China

Mathematics, 2024, vol. 12, issue 14, 1-18

Abstract: In this article, a new intelligent fault-tolerant control (FTC) is designed to control a flexible-link manipulator with uncertain dead-zone and intermittent actuator faults. Initially, a smooth dead-zone inverse model using a hyperbolic tangent function is introduced to handle dead-zone nonlinearity and suppress input chattering. An adaptive law is proposed to estimate an unknown coupling item, combining the upper bounds of compensation error and floating bias faults, achieving robust adaptive control of the system. A new FTC strategy is subsequently developed to address intermittent actuator faults. Finally, the bounded convergence of system state errors is proven using direct Lyapunov methods, and the effectiveness and superiority of the proposed controller are demonstrated through numerical simulation and experiment.

Keywords: vibration control; flexible-link manipulator; inverse compensation; intermittent actuator faults; adaptive control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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