Adaptive finite-time fault-tolerant control for the full-state-constrained robotic manipulator with novel given performance

Li, Menghan; Zhang, Junxing; Li, Shaobo; Wu, Fengbin

doi:10.1016/j.engappai.2023.106650

Engineering Applications of Artificial Intelligence

2023

DOI: 10.1016/j.engappai.2023.106650

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Adaptive finite-time fault-tolerant control for the full-state-constrained robotic manipulator with novel given performance

Menghan Li

Junxing Zhang

Shaobo Li

et al.

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Cited by 9 publications

References 43 publications

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Adaptive Fuzzy Sliding Mode Controller Design for Uncertain Robotic Manipulator With Finite‐Time Convergence

Zhu,

Liu,

Kao

et al. 2024

Adaptive Control & Signal

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This article investigates the issue of finite‐time tracking control for uncertain robotic manipulator systems with unknown actuator faults and shifting loads based upon a fuzzy sliding mode control strategy. A novel fuzzy adaptive sliding mode fault‐tolerant control law is synthesized, where a fuzzy approximation algorithm is utilized to fit the unknown plant parameters, potential disturbances, and relational actuator faults, and the corresponding adaptive robust term is designed to estimate the unidentified boundary of the estimated errors, and the boundedness of all the relevant design parameters of the manipulator systems is ensured combining with the average dwell time mechanism of switched system control theory. Furthermore, the reachability of the pre‐devised sliding surface and the finite‐time convergence of tracking error are achieved under the presented controller design. Ultimately, simulation results exhibit the feasibility and superiority of the proposed algorithm.

show abstract

Adaptive Fuzzy Sliding Mode Controller Design for Uncertain Robotic Manipulator With Finite‐Time Convergence

Zhu,

Liu,

Kao

et al. 2024

Adaptive Control & Signal

View full text Add to dashboard Cite

show abstract

Observer-based fault-tolerant control design for a class of sampled-data nonlinear systems with bounded disturbances

Papi,

Khosrowjerdi

2024

Int. J. Dynam. Control

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Process-Threshold-Based Fuzzy Adaptive Prescribed Performance Event-Triggered Tracking Control for a Manipulator System

Shen,

Li,

Liu

et al. 2024

Int. J. Fuzzy Syst.

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Adaptive finite-time fault-tolerant control for the full-state-constrained robotic manipulator with novel given performance

Cited by 9 publications

References 43 publications

Adaptive Fuzzy Sliding Mode Controller Design for Uncertain Robotic Manipulator With Finite‐Time Convergence

Adaptive Fuzzy Sliding Mode Controller Design for Uncertain Robotic Manipulator With Finite‐Time Convergence

Observer-based fault-tolerant control design for a class of sampled-data nonlinear systems with bounded disturbances

Process-Threshold-Based Fuzzy Adaptive Prescribed Performance Event-Triggered Tracking Control for a Manipulator System

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