Fuzzy Adaptive Containment Control for Nonlinear Multi-Manipulator Systems with Actuator Faults and Predefined Accuracy

Huadi Shan, Yulian Jiang, Hongjing Liang, Shenquan Wang, Hak-Keung Lam

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)
9 Downloads (Pure)

Abstract

Compensating for the infinite number of actuator faults considered in nonlinear multi-manipulator systems is a significant, yet a crucial issue for control problems. In view of this, a novel fuzzy adaptive fault-tolerant control algorithm is proposed for nonlinear multi-manipulator systems to eliminate the influence of actuator faults and improve accuracy essentially, as well as achieve the objective of containment. First, a Lyapunov function is constructed by replacing the square term of the error with a series of smooth functions. Moreover, a predefined accuracy function is introduced and a new fuzzy adaptive fault- tolerant containment control scheme is designed. This overcomes the problem that existing methods cannot guarantee the negative- definite property of time derivative of Lyapunov function between two adjacent actuator faults. And it also ensures the boundedness of containment errors. Furthermore, projection-based adaptive parameters and the turning function are fused to compensate the influence of actuator faults. Finally, the effectiveness of the designed control scheme is verified by a simulation example of multiple single-link manipulator systems.
Original languageEnglish
Pages (from-to)1-13
Number of pages13
JournalIEEE Transactions on Network Science and Engineering
DOIs
Publication statusPublished - 8 Oct 2023

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