Adaptive Inverse Compensation Fault-Tolerant Control for a Flexible Manipulator with Unknown Dead-zone and Actuator Faults

Zhijia Zhao, Zhifeng Tan, Zhijie Liu, Mehmet Onder Efe, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)

Abstract

This study presents an adaptive inverse compensation control of a flexible single-link manipulator with an unknown dead-zone and actuator faults. First, a dead-zone inverse model and a smooth inverse operator are constructed to address dead-zone nonlinearity. Second, an adaptive fault-tolerant control is utilized to compensate for the partial loss of the effectiveness of the actuator. Third, the coupling errors of the dead-zone and faults are effectively removed and resolved by introducing an estimate for unknown bounds. Then, the direct Lyapunov theory is used to guarantee uniformly ultimately bounded stability in the controlled system. Finally, the simulations and experiments demonstrate the efficiency of the presented method.

Original languageEnglish
Pages (from-to)1-10
Number of pages10
JournalIEEE Transactions on Industrial Electronics
DOIs
Publication statusAccepted/In press - 2023

Bibliographical note

Publisher Copyright:
IEEE

Keywords

  • Actuators
  • Adaptation models
  • Adaptive control
  • Fault tolerance
  • Fault tolerant systems
  • Fault-tolerant control
  • Flexible manipulator
  • Inverse compensation
  • Manipulator dynamics
  • Symmetric matrices
  • Vibration control
  • Vibrations

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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