Characteristic Model-based Adaptive Fault Tolerant Control for Four-motor Synchronization Systems Considering Actuator Failure

2021 ◽  
Vol 19 (12) ◽  
pp. 4010-4024
Author(s):  
Yang Gao ◽  
Jiali Ma ◽  
Qingwei Chen ◽  
Yifei Wu
Keyword(s):  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Failure ◽  
Characteristic Model ◽  
Model Based

Neural-network-based adaptive fault-tolerant vibration control of single-link flexible manipulator

2019 ◽  
Vol 42 (3) ◽  
pp. 430-438 ◽  
Author(s):  
Le Li ◽  
Jinkun Liu
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Fault Tolerant ◽  
Rbf Neural Network ◽  
Direct Method ◽  
Fault Tolerant Control ◽  
Flexible Manipulator ◽  
Actuator Failure ◽  
Single Link ◽  
Boundary Disturbance

This paper proposes an adaptive fault-tolerant control scheme for a single-link flexible manipulator with actuator failure and uncertain boundary disturbance. The dynamic model of the flexible manipulator as-described by partial differential equations (PDEs) is derived under Hamilton’s principle. The dynamic model is then used to design an adaptive fault-tolerant control (FTC) scheme which tracks the given angle and regulates vibration in the case of actuator failure. The boundary disturbance is compensated by a radial basis function (RBF) neural network. The whole closed-loop system is proven asymptotically stable by Lyapunov direct method and LaSalle’s invariance principle. Simulation results indicate that the proposed controller is superior to the traditional PD controller.

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