Adaptive PID actuator fault tolerant control of single-link flexible manipulator

Abstract

Actuator faults may cause performance degradation of a system and may sometimes even lead to instability. This paper deals with the fault tolerant control problem of a single-link flexible manipulator under a loss of actuator effectiveness. The proposed control scheme uses an adaptive proportional–integral–derivative (APID) controller, which may automatically online tune the three control gains, kp, ki, and kd. The adaptation laws of the APID controller are derived in the sense of the Lyapunov function, so that the stability of the closed-loop system may be guaranteed. The main advantage of the proposed methodology is that no prior offline learning or manual retuning of the PID controller is required to accommodate the actuator fault. In addition, the proposed APID controller does not require any knowledge of the fault magnitude in advance. The effectiveness and feasibility of the proposed approach is tested for the hub angular position and tracking control of a single-link flexible manipulator under both faulty and fault-free conditions. The results demonstrate that the approach is valid, leading to an accurate fault reconstruction, a better transient and good tracking performance, and significantly improved upon previous approaches in terms of errors with respect to the corresponding traditional fixed-gain PID controller.

Review on Modeling and Control of Flexible Link Manipulators

“…Cao and Liu (2018a) studied the actuator fault problem for a two-link rigid-flexible manipulator system and designed a novel controller that included a PD feedback structure, a disturbance observer, and a fault-tolerant algorithm for joint position regulation and vibration suppression in the presence of disturbance and actuator fault. Abd Latip et al (2019) designed an adaptive PID controller for the joint position and tracking control of a single-link flexible manipulator, which may automatically online tune the control gains to accommodate the actuator fault. Boucetta et al (2020) compared PD, fuzzy PD, and fractional order fuzzy PD controllers in terms of trajectory tracking, vibration suppression, robustness against disturbances, and energy consumption to control the rigidflexible two-link manipulator.…”

Nonlinear partial differential equation modeling and adaptive fault‐tolerant vibration control of flexible rotatable manipulator in three‐dimensional space

“…Great contributions have been made in the fault-tolerant control. [33][34][35][36] A fault-tolerant strategy is proposed to react to faults online and in real time, which can greatly reduce the conservativeness of the controller. 33 On the basis of multiple observers, a new local fault recognition method is developed to distinguish different types of actuator faults.…”

“…Adaptive proportional-integral-derivative (PID) control and actuator fault tolerant control are used in combination to deal with the efficiency loss of the actuator of the flexible manipulator. 36 The purpose of this article is to design a fault-tolerant control scheme for the new nonlinear model of the flexible rotatable manipulator to suppress the elastic deformation and track the desired angle when the actuator fault occurs.…”

Fuzzy adaptive robust proportional–integral–derivative control optimized by the multi-objective grasshopper optimization algorithm for a nonlinear quadrotor

“…Bhattacharya et al (2019) studied a PID control system for the liquid level measurement using non-contact type sensor. Abd Latip et al (2019) controlled an actuator fault tolerant of single-link flexible manipulator using an adaptive PID controller. Salim et al (2019) compared PID and artificial neural networks to control a boiler for steam power plant.…”