Adaptive Fuzzy Event-Triggered Control for Single-Link Flexible-Joint Robots With Actuator Failures

This article studies the finite-time tracking control problem for the single-link flexible-joint robot system with actuator failures and proposes an adaptive fuzzy fault-tolerant control strategy. More precisely, the issue of "explosion of complexity" is successfully solved by incorporatin...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2022-08, Vol.52 (8), p.7231-7241
Main Authors: Diao, Shuzhen, Sun, Wei, Su, Shun-Feng, Xia, Jianwei
Format: Article
Language:English
Subjects:
Actuator failures
Actuators
Adaptive control
adaptive fuzzy control
Adaptive systems
command filter design
Control design
Control methods
Event triggered control
Fault tolerance
Fault tolerant systems
Fuzzy control
Fuzzy logic
Robot control
Robot kinematics
Robots
single-link flexible-joint robots
Tracking control
Tracking errors
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Summary:This article studies the finite-time tracking control problem for the single-link flexible-joint robot system with actuator failures and proposes an adaptive fuzzy fault-tolerant control strategy. More precisely, the issue of "explosion of complexity" is successfully solved by incorporating the command filtering technology and the backstepping method. The unknown nonlinearities are identified with the help of the fuzzy logic system. An event-triggered mechanism with the relative threshold strategy is exploited to save communication resources. Furthermore, the proposed control design can guarantee that the tracking error converges to a small neighborhood of origin within a finite time by taking full advantage of the finite-time stability theory. Finally, the simulation example is presented to further verify the validity of the proposed control method.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2021.3049536