Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 32, Issue 5, Pages 2705-2721Publisher
WILEY
DOI: 10.1002/rnc.5556
Keywords
actuator failure; actuator saturation; fault tolerance; neural network learning; robust adaptive
Funding
- Zhejiang Laboratory [2019NB0AB06]
- National Natural Science Foundation of China [61833013, 61773081, 61860206008, 61933012]
Ask authors/readers for more resources
In this study, a new PID-based control solution for Euler-Lagrange systems is developed, featuring simplicity in structure and automatic updating of PID gains.
Many important engineering systems can be classified as Euler-Lagrange (EL) systems. In this work we develop a new Proportional-Integral-Derivative (PID) -based tracking control solution for uncertain EL systems subject to actuation failures and saturation. Two set of control algorithms are developed using robust adaptive and neuroadaptive methods, which are shown to exhibit several salient features: (1) the control schemes are of PID form, hence is characterized with simplicity in structure and intuition in concept; (2) the PID gains in the scheme are automatically updated by analytic algorithms with no need for manual tuning, rendering the control scheme more user-friendly; and (3) the developed control algorithms are robust against nonvanishing disturbances, adaptive to unknown virtual parameter and immune to partial actuation effectiveness faults.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available