Command-Filtered Finite-Time Fuzzy Adaptive Fault-Tolerant Control of Output-Constrainted Robotic Manipulators With Unknown Dead-Zones

doi:10.1109/TCSII.2023.3249188

科研成果详情

发表状态	已发表Published
题名	Command-Filtered Finite-Time Fuzzy Adaptive Fault-Tolerant Control of Output-Constrainted Robotic Manipulators With Unknown Dead-Zones
作者	Zhu, Yiping 1; Zhu, Wenyin 2; Liu, Jiapeng 1; Wang, Qing Guo3,4 ; Yu, Jinpeng 1
发表日期	2023-08-01
发表期刊	IEEE Transactions on Circuits and Systems II: Express Briefs
ISSN/eISSN	1549-7747
卷号	70 期号:8 页码:2939-2943
摘要	This brief presents a barrier Lyapunov functions-based (BLFs) adaptive fuzzy finite-time fault-tolerant control scheme for the manipulator with actuator faults and unknown dead-zones. Firstly, by constructing time-varying BLFs, the system output will be constrained in time-varying regions. Secondly, an adaptive method is designed to estimate the degree of actuator faults and to compensate for the effect of dead-zones. Thirdly, the command filtered backstepping with error compensation mechanism is introduced to approximate the virtual control laws, which can not only solve the 'explosion of complexity' problem, but also improve the control accuracy. The control method can ensure that all signals of the closed-loop system are finite-time bounded, the tracking errors of joint positions converge to a small neighborhood of the origin, and meets the requirements of time-varying constraints. Finally, a rigid manipulator is used to verify the effectiveness of the scheme.
关键词	adaptive fault-tolerant control Finite-time control manipulator unknown dead-zones
DOI	10.1109/TCSII.2023.3249188
URL	查看来源
收录类别	SCIE
语种	英语English
WOS研究方向	Engineering
WOS类目	Engineering, Electrical & Electronic
WOS记录号	WOS:001043666500045
Scopus入藏号	2-s2.0-85149392255
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://repository.uic.edu.cn/handle/39GCC9TT/10802
专题	理工科技学院
通讯作者	Yu, Jinpeng
作者单位	1.Qingdao University, School of Automation, Qingdao, 266071, China 2.Haier Smart Home Company Ltd., State Key Laboratory of Massive Personalized Customization System and Technology, Qingdao, 266101, China 3.Institute of Artificial Intelligence and Future Networks, Beijing Normal University, Zhuhai, 519087, China 4.BNU-HKBU United International College, Guangdong Key Laboratory of Ai and Multi-Modal Data Processing, Zhuhai, 519087, China
推荐引用方式 GB/T 7714	Zhu, Yiping,Zhu, Wenyin,Liu, Jiapenget al. Command-Filtered Finite-Time Fuzzy Adaptive Fault-Tolerant Control of Output-Constrainted Robotic Manipulators With Unknown Dead-Zones[J]. IEEE Transactions on Circuits and Systems II: Express Briefs, 2023, 70(8): 2939-2943.
APA	Zhu, Yiping, Zhu, Wenyin, Liu, Jiapeng, Wang, Qing Guo, & Yu, Jinpeng. (2023). Command-Filtered Finite-Time Fuzzy Adaptive Fault-Tolerant Control of Output-Constrainted Robotic Manipulators With Unknown Dead-Zones. IEEE Transactions on Circuits and Systems II: Express Briefs, 70(8), 2939-2943.
MLA	Zhu, Yiping,et al."Command-Filtered Finite-Time Fuzzy Adaptive Fault-Tolerant Control of Output-Constrainted Robotic Manipulators With Unknown Dead-Zones". IEEE Transactions on Circuits and Systems II: Express Briefs 70.8(2023): 2939-2943.