期刊
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
卷 42, 期 3, 页码 430-438出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0142331219874157
关键词
Adaptive fault-tolerant control; vibration suppression; flexible manipulator; RBF neural network; PDE model; actuator failure
资金
- National Natural Science Foundation of China [61873296]
This paper proposes an adaptive fault-tolerant control scheme for a single-link flexible manipulator with actuator failure and uncertain boundary disturbance. The dynamic model of the flexible manipulator as-described by partial differential equations (PDEs) is derived under Hamilton's principle. The dynamic model is then used to design an adaptive fault-tolerant control (FTC) scheme which tracks the given angle and regulates vibration in the case of actuator failure. The boundary disturbance is compensated by a radial basis function (RBF) neural network. The whole closed-loop system is proven asymptotically stable by Lyapunov direct method and LaSalle's invariance principle. Simulation results indicate that the proposed controller is superior to the traditional PD controller.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据