基于事件触发的柔性机械臂执行器故障补偿

doi:10.12305/j.issn.1001-506X.2025.04.27

Abstract

Abstract:

To solve the problem of offset failure of flexible single-link manipulator actuator due to actuator aging and wear, an adaptive boundary fault-tolerant control combining hysteresis quantizer and event trigger mechanism is proposed. Firstly, a hysteresis quantizer with unknown parameters is used to quantize the control input signal. Secondly, a static event trigger mechanism is constructed to reduce the consumption of input signal resources. Furthermore, the adaptive boundary fault-tolerant control law and parameter updation law are designed based on the improved Lyapunov direct method. Finally, the simulation results show that the proposed control algorithm is feasible. With communication constraints and disturbances, the proposed control method can achieve better posture tracking effect compared with traditional adaptive methods, while achieving system stability with lower computational load.

Key words: adaptive boundary control, event-triggered mechanism, flexible manipulator, input quantization, actuator fault

CLC Number:

TP273

Shengjie XING, Dong ZHAO, Wenjing REN. Event-triggered based actuator failure compensation for flexible manipulator[J]. Systems Engineering and Electronics, 2025, 47(4): 1311-1318.

Figures/Tables 8

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References 31

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Event-triggered based actuator failure compensation for flexible manipulator

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