Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained

Lijun Wang; Dan Zhang; Jinkun Liu; Haifeng Huang; Qiuyue Shi

doi:10.1109/CYBER.2018.8688121

Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained

Lijun Wang
, Dan Zhang
, Jinkun Liu
, Haifeng Huang
, Qiuyue Shi

School of Automation Science and Electrical Engineering

University of Science and Technology Beijing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Adaptive fault-tolerant control of actuator partial failure for a flexible manipulator with bounded disturbance and output constraints is proposed in this paper. The control laws are designed by the backstepping technique., and the bounded disturbance is compensated via introducing a robust item. The Barrier Lyapunov Function is presented to prevent the output constraint violation. The stability of the closed-loop system is guaranteed via the Lyapunov method. Finally., the effectiveness and rationality of the control scheme is finally verified by the simulation results.

Original language	English
Title of host publication	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1048-1052
Number of pages	5
ISBN (Electronic)	9781538670569
DOIs	https://doi.org/10.1109/CYBER.2018.8688121
State	Published - 10 Apr 2019
Event	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 - Tianjin, China Duration: 19 Jul 2018 → 23 Jul 2018

Publication series

Name	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

Conference

Conference	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Country/Territory	China
City	Tianjin
Period	19/07/18 → 23/07/18

Access to Document

10.1109/CYBER.2018.8688121

Cite this

Wang, L., Zhang, D., Liu, J., Huang, H., & Shi, Q. (2019). Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained. In 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 (pp. 1048-1052). Article 8688121 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER.2018.8688121

Wang, Lijun ; Zhang, Dan ; Liu, Jinkun et al. / Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained. 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1048-1052 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

@inproceedings{d9dfa49c371546cea634a0f051fb94b6,

title = "Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained",

abstract = "Adaptive fault-tolerant control of actuator partial failure for a flexible manipulator with bounded disturbance and output constraints is proposed in this paper. The control laws are designed by the backstepping technique., and the bounded disturbance is compensated via introducing a robust item. The Barrier Lyapunov Function is presented to prevent the output constraint violation. The stability of the closed-loop system is guaranteed via the Lyapunov method. Finally., the effectiveness and rationality of the control scheme is finally verified by the simulation results.",

author = "Lijun Wang and Dan Zhang and Jinkun Liu and Haifeng Huang and Qiuyue Shi",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 ; Conference date: 19-07-2018 Through 23-07-2018",

year = "2019",

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day = "10",

doi = "10.1109/CYBER.2018.8688121",

language = "英语",

series = "8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Wang, L, Zhang, D, Liu, J, Huang, H & Shi, Q 2019, Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained. in 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018., 8688121, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1048-1052, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Tianjin, China, 19/07/18. https://doi.org/10.1109/CYBER.2018.8688121

Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained. / Wang, Lijun; Zhang, Dan; Liu, Jinkun et al.
8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1048-1052 8688121 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Shi, Qiuyue

PY - 2019/4/10

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AB - Adaptive fault-tolerant control of actuator partial failure for a flexible manipulator with bounded disturbance and output constraints is proposed in this paper. The control laws are designed by the backstepping technique., and the bounded disturbance is compensated via introducing a robust item. The Barrier Lyapunov Function is presented to prevent the output constraint violation. The stability of the closed-loop system is guaranteed via the Lyapunov method. Finally., the effectiveness and rationality of the control scheme is finally verified by the simulation results.

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Y2 - 19 July 2018 through 23 July 2018

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Wang L, Zhang D, Liu J, Huang H, Shi Q. Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained. In 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1048-1052. 8688121. (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018). doi: 10.1109/CYBER.2018.8688121

Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained

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