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

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 observ...