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 language | English |
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Pages (from-to) | 1-10 |
Number of pages | 10 |
Journal | IEEE Transactions on Industrial Electronics |
DOIs | |
Publication status | Accepted/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