Fuzzy Disturbance Observers-based Adaptive Fault-tolerant Control for an Uncertain Constrained Automatic Flexible Robotic Manipulator

• Published in: IEEE transactions on fuzzy systems Vol. 32; no. 3; pp. 1 - 14
• Main Authors: Ren, Yong, Sun, Yaobin, Liu, Lei
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.03.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptive control; adaptive fault tolerant control; Angular position; Disturbance observers; Fault tolerance; Fault tolerant systems; flexible robotic manipulator; Fuzzy disturbance observers; Fuzzy logic; Fuzzy systems; Manipulators; Mathematical models; Oscillators; Robot arms; Subsystems; Tracking errors; Uncertainty; uniform ultimate boundedness
• ISSN: 1063-6706; 1941-0034
• DOI: 10.1109/TFUZZ.2023.3319392

The article investigates an adaptive fault-tolerant control problem of an automatic flexible robotic manipulator (AFRM) subject to system uncertainties, actuator faults and saturations, and disturbances. By integrating fuzzy logic systems, projection functions, and two novel fuzzy disturbance observers (FDOs) designed for the position and angular loop subsystems, a new adaptive fault-tolerant control scenario is adopted to ensure semi-global uniform ultimate boundedness for the AFRM. With the introduced control scheme, the oscillation amplitude and angular-displacement tracking error remain within compact sets. At last, simulation results are used to verify the rationality and validity of the developed control strategy