Adaptive prescribed performance output feedback control for single-joint robots with intermittent actuator faults

Investigating the issue of intermittent actuator faults for single-joint robots is both theoretical and practical. In this paper, we develop a prescribed performance adaptive output feedback control scheme for single-joint robots with intermittent actuator faults. Firstly, the estimated parameters i...

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Bibliographic Details
Main Authors: Jin, Fuli, Nai, Yongqiang, Bao, Xueliang
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Adaptive control
intermittent actuator faults
Lyapunov methods
Output feedback
prescribed performance
robot
Robots
Simulation
Stability analysis
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Summary:Investigating the issue of intermittent actuator faults for single-joint robots is both theoretical and practical. In this paper, we develop a prescribed performance adaptive output feedback control scheme for single-joint robots with intermittent actuator faults. Firstly, the estimated parameters in the controller are updated by the projection operator to ensure the boundedness of parameter estimates. Secondly, a modified Lyapunov function is developed to prove the closed-loop stability, proving that the tracking error is always kept within the predefined domain provided by the given performance function. Meanwhile, better tracking performance can be obtained if the jump amplitude of the Lyapunov function is smaller and the minimum fault time interval is longer. Finally, simulation results show the effectiveness of the proposed control scheme.
ISSN:1934-1768
DOI:10.23919/CCC63176.2024.10662359