Journal
AUTOMATICA
Volume 130, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2021.109690
Keywords
Timoshenko arm; Adaptive fault-tolerant control; Actuator failure; Backlash-like hysteresis; Vibration control
Funding
- National Natural Science Foundation of China [62073030, 61803109, U20A20225]
- Scientific Research Projects of Guangzhou Education Bureau, China [202032793]
- Science and Technology Planning Project of Guangzhou City [202102010398]
- Science and Technology Planning Project of Guangdong Province, China [2020B0101050001]
- City University of Hong Kong [7005092]
- National Research Foundation (NRF) of Korea under the Ministry of Science and ICT, Korea [NRF-2020R1A2B5B03096000]
- National Research Foundation of Korea [2020R1A2B5B03096000] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This study proposes a novel adaptive fault-tolerant control design for a flexible Timoshenko arm, considering the effects of actuator failures, backlash-like hysteresis, and external disturbances. By integrating actuator failures and backlash-like hysteresis together and using adaptive techniques to handle errors and disturbances, adaptive fault-tolerant controllers with online updates are established to ensure system stability. The proposed strategy guarantees uniformly bounded stability in the controlled system, as demonstrated through numerical examples.
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.
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