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

自动化科学与电气工程学院

University of Science and Technology Beijing

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

2 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1048-1052
页数	5
ISBN（电子版）	9781538670569
DOI	https://doi.org/10.1109/CYBER.2018.8688121
出版状态	已出版 - 10 4月 2019
活动	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 - Tianjin, 中国期限: 19 7月 2018 → 23 7月 2018

出版系列

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

会议

会议	8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
国家/地区	中国
市	Tianjin
时期	19/07/18 → 23/07/18

访问文件

10.1109/CYBER.2018.8688121

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, L., Zhang, D., Liu, J., Huang, H., & Shi, Q. (2019). Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained. 在 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018 (页码 1048-1052). 文章 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 等. / 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. 页码 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",

month = apr,

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.",

pages = "1048--1052",

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

address = "美国",

}

Wang, L, Zhang, D, Liu, J, Huang, H & Shi, Q 2019, Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained. 在 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., 页码 1048-1052, 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018, Tianjin, 中国, 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 等.
8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 页码 1048-1052 8688121 (8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained

AU - Wang, Lijun

AU - Zhang, Dan

AU - Liu, Jinkun

AU - Huang, Haifeng

AU - Shi, Qiuyue

PY - 2019/4/10

Y1 - 2019/4/10

N2 - 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.

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.

UR - https://www.scopus.com/pages/publications/85064986728

U2 - 10.1109/CYBER.2018.8688121

DO - 10.1109/CYBER.2018.8688121

M3 - 会议稿件

AN - SCOPUS:85064986728

T3 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

SP - 1048

EP - 1052

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018

Y2 - 19 July 2018 through 23 July 2018

ER -

Wang L, Zhang D, Liu J, Huang H, Shi Q. Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained. 在 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018. Institute of Electrical and Electronics Engineers Inc. 2019. 页码 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

摘要

出版系列

会议

访问文件

其它文件与链接

指纹

引用此