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An Intelligent Fault-Tolerant Control Method for a Flexible-Link Manipulator with an Uncertain Dead-Zone and Intermittent Actuator Faults

Author

Listed:
  • Liang Cao

    (College of Information Science and Technology, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China)

  • Shuangyin Liu

    (College of Information Science and Technology, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China)

  • Longqin Xu

    (College of Information Science and Technology, Zhongkai University of Agriculture and Engineering, Guangzhou 510225, China)

Abstract

In this article, a new intelligent fault-tolerant control (FTC) is designed to control a flexible-link manipulator with uncertain dead-zone and intermittent actuator faults. Initially, a smooth dead-zone inverse model using a hyperbolic tangent function is introduced to handle dead-zone nonlinearity and suppress input chattering. An adaptive law is proposed to estimate an unknown coupling item, combining the upper bounds of compensation error and floating bias faults, achieving robust adaptive control of the system. A new FTC strategy is subsequently developed to address intermittent actuator faults. Finally, the bounded convergence of system state errors is proven using direct Lyapunov methods, and the effectiveness and superiority of the proposed controller are demonstrated through numerical simulation and experiment.

Suggested Citation

  • Liang Cao & Shuangyin Liu & Longqin Xu, 2024. "An Intelligent Fault-Tolerant Control Method for a Flexible-Link Manipulator with an Uncertain Dead-Zone and Intermittent Actuator Faults," Mathematics, MDPI, vol. 12(14), pages 1-18, July.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:14:p:2173-:d:1433013
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    References listed on IDEAS

    as
    1. Zhao, Yanwei & Wang, Huanqing & Xu, Ning & Zong, Guangdeng & Zhao, Xudong, 2023. "Reinforcement learning-based decentralized fault tolerant control for constrained interconnected nonlinear systems," Chaos, Solitons & Fractals, Elsevier, vol. 167(C).
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