控制理论(社会学)
容错
有界函数
执行机构
人工神经网络
非线性系统
计算机科学
边界(拓扑)
数学
控制(管理)
人工智能
分布式计算
数学分析
物理
量子力学
作者
Yu Liu,Xiangqian Yao,Wei Zhao
出处
期刊:Automatica
[Elsevier]
日期:2023-10-01
卷期号:156: 111202-111202
被引量:4
标识
DOI:10.1016/j.automatica.2023.111202
摘要
This paper focuses on a novel fault-tolerant control design for networked flexible manipulators with actuator failures, input saturations, and external disturbances. Unlike the existing methods, the new control strategy has three characteristics. First, the second-order auxiliary system is used to eliminate the influence of input saturation. Second, by designing some proportional–integral (PI) auxiliary variables, the boundary dynamics of manipulators are reconstructed as some new second-order systems, where the nonlinear uncertainties are estimated by the adaptive radial basis neural networks (RBFNNs) and the compound disturbances are compensated by the adaptive method. Third, a boundary local angle interaction protocol is given under a digraph. Then combining the virtual control and Lyapunov design, some novel distributed fault-tolerant control algorithms are obtained to ensure that the vibration states and the angle consensus error are uniformly ultimately bounded. Finally, numerical simulations are provided to show the effectiveness of these control algorithms.
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