2020
DOI: 10.1109/access.2020.3029522
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Adaptive Fault-Tolerant Guaranteed Performance Control for Euler-Lagrange Systems With Its Application to a 2-Link Robotic Manipulator

Abstract: This paper investigates a novel adaptive fault-tolerant guaranteed performance control problem for Euler-Lagrange systems subject to unknown actuator faults. Firstly, a barrier Lyapunov function instead of logarithmic transformation is constructed to handle the performance constraints imposed on the controlled system. Then, an adaptive control scheme is devised to guarantee the prescribed tracking performance with consideration of the unknown actuator faults. Compared with the existing works, the prominent adv… Show more

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Cited by 8 publications
(3 citation statements)
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References 40 publications
(47 reference statements)
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“…The main reason for expressing (10) as (11) is that (11) does not contain Λ −1 , which results in singularity. In some works (see for instance [46]), in order to deal with singularity as a result of fractional power used in the sliding surface, a piecewise continuous function is used.…”
Section: Remarkmentioning
confidence: 99%
See 1 more Smart Citation
“…The main reason for expressing (10) as (11) is that (11) does not contain Λ −1 , which results in singularity. In some works (see for instance [46]), in order to deal with singularity as a result of fractional power used in the sliding surface, a piecewise continuous function is used.…”
Section: Remarkmentioning
confidence: 99%
“…From a practical point of view, it is not straightforward to obtain accurate information of the system, mainly because of the complex structure of the controlled system. Therefore, unknown nonlinearity is generally inevitable and has a negative effect on the system's performance and even stability [10]. The problem becomes more difficult and challenging as the unknown external disturbance is taken into account.…”
Section: Introductionmentioning
confidence: 99%
“…In most studies, BLF is an effective solution for the constraint problem [16][17][18]. In [19], the guaranteed performance control problem for EL systems with actuator faults is investigated, and the BLF is introduced to handle the performance constraints problems. In [20,21], a log-type BLF is employed to ensure that the full-state constraints for an EL system with uncertain dynamics.…”
Section: Introductionmentioning
confidence: 99%