Adaptive actuator fault compensation control for a rigid-flexible manipulator with ODEs-PDEs model

Fangfei Cao and Jinkun Liu

International Journal of Systems Science, 2018, vol. 49, issue 8, 1748-1759

Abstract: In this paper, the actuator fault problem is studied for a two-link rigid-flexible manipulator system in the presence of boundary disturbance and state constraint. The system consists of a rigid beam, a flexible beam and a payload at the end, which are described by hybrid ordinary differential equations–partial differential equations. The novel controller includes a proportional-derivative feedback structure, a disturbance observer and a fault-tolerant algorithm, which can regulate the joint positions and eliminate vibration of flexible beam, on circumstance of boundary disturbance and actuator fault. With the help of Barrier Lyapunov Function, the states will not be violated. It is proved that the closed-loop system has asymptotic stability by LaSalle Invariance Principle. Simulations are provided to demonstrate the effectiveness of the proposed controller.

Date: 2018
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2018.1479002 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:49:y:2018:i:8:p:1748-1759

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2018.1479002

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().