Journal ArticleDOI
Disturbance Observer-Based Fault-Tolerant Control for Robotic Systems With Guaranteed Prescribed Performance
- Vol. 52, Iss: 2, pp 772-783
TLDR
In this paper , the actuator failure compensation control problem of robotic systems possessing dynamic uncertainties has been investigated, and the control design method based on barrier Lyapunov function (BLF) is used to strictly guarantee both the steady state performance and the transient performance.Abstract:
The actuator failure compensation control problem of robotic systems possessing dynamic uncertainties has been investigated in this paper. Control design against partial loss of effectiveness (PLOE) and total loss of effectiveness (TLOE) of the actuator are considered and described, respectively, and a disturbance observer (DO) using neural networks is constructed to attenuate the influence of the unknown disturbance. Regarding the prescribed error bounds as time-varying constraints, the control design method based on barrier Lyapunov function (BLF) is used to strictly guarantee both the steady-state performance and the transient performance. A simulation study on a two-link planar manipulator verifies the effectiveness of the proposed controllers in dealing with the prescribed performance, the system uncertainties, and the unknown actuator failure simultaneously. Implementation on a Baxter robot gives an experimental verification of our controller. read more
Citations
More filters
Journal ArticleDOI
Nonfragile Quantitative Prescribed Performance Control of Waverider Vehicles With Actuator Saturation
Xi Bu,Baoxu Jiang,Humin Lei +2 more
TL;DR: In this article , a non-fragile PPC method for WVs is proposed to guarantee the prescribed performance for tracking errors in the presence of actuator saturation, and a low-complexity fuzzy neural control protocols are presented for velocity subsystem and altitude subsystem of WVs, while there is no need of recursive back stepping design.
Journal ArticleDOI
Adaptive fixed-time fault-tolerant tracking control and its application for robot manipulators
TL;DR: An adaptive fault-tolerant approach with fixed-time sliding mode for trajectory tracking of uncertain robot manipulators with actuator effectiveness faults yields an improved tracking performance without utilizing the overestimated control gain and prior knowledge of robot, and then overcomes the singularity and algebraic loop problems completely.
Journal ArticleDOI
Adaptive Fixed-Time Fault-Tolerant Tracking Control and Its Application for Robot Manipulators
TL;DR: In this article , an adaptive fault-tolerant approach with a fixed-time sliding mode for trajectory tracking of uncertain robot manipulators with actuator effectiveness faults was proposed, and the proposed approach yields an improved tracking performance without utilizing the overestimated control gain and prior knowledge of a robot and then overcomes the singularity and algebraic loop problems completely.
Journal ArticleDOI
Quantized Control Capable of Appointed-Time Performances for Quadrotor Attitude Tracking: Experimental Validation
TL;DR: In this paper , a quantized control capable of appointed-time performances for quadrotor attitude tracking is investigated, where a continuous and piecewise behavior boundary is devised using error transformation to enforce attitude convergence to preassigned transient and steady zones in an appointed time.
Journal ArticleDOI
A unified high-order model for size-dependent vibration of nanobeam based on nonlocal strain/stress gradient elasticity with surface effect
TL;DR: In this paper , a unified high-order nanobeam model considering various high order shear deformation beam theories is established to investigate the vibration response of nanobeams on the basis of two-phase local/nonlocal strain and stress gradient theory, as well as surface elasticity theory.
References
More filters
Journal ArticleDOI
Barrier Lyapunov Functions for the control of output-constrained nonlinear systems
TL;DR: This paper presents control designs for single-input single-output (SISO) nonlinear systems in strict feedback form with an output constraint, and explores the use of an Asymmetric Barrier Lyapunov Function as a generalized approach that relaxes the requirements on the initial conditions.
Journal ArticleDOI
Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance
TL;DR: It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem and guarantees a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop.
Journal ArticleDOI
Brief paper: Adaptive actuator failure compensation control of uncertain nonlinear systems with guaranteed transient performance
Wei Wang,Changyun Wen +1 more
TL;DR: A new controller design scheme based on a prescribed performance bound (PPB) which characterizes the convergence rate and maximum overshoot of the tracking error and can improve transient performance compared with the basic scheme is proposed.
Journal ArticleDOI
Adaptive backstepping control of a class of uncertain nonlinear systems with unknown backlash-like hysteresis
TL;DR: It is shown that the proposed controllers not only can guarantee global stability, but also transient performance, in the class of uncertain dynamic nonlinear systems preceded by unknown backlash-like hysteresis nonlinearities.
Journal ArticleDOI
Adaptive finite-time tracking control of full state constrained nonlinear systems with dead-zone
TL;DR: The finite-time control problem of the nonlinear system with dead-zone is solved and the adaptive backstepping method is proposed, and the effectiveness of the proposed scheme is verified via some simulation results.
Related Papers (5)
Fault-Tolerant Sliding Mode Controller For a 4 Degree of Freedom Robotic Manipulator
Duc Thien Tran,Thien Nguyen +1 more
Observer-based event-driven fault-tolerant control for a class of system with state-dependent uncertainties
Jian Feng,N. Li +1 more