Vibration Suppression and Adaptive Fault-Tolerant Control for Three-Dimensional Flexible Rotating Manipulator With Input Signal Constraints

IF 3.9 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Adaptive Control and Signal Processing Pub Date : 2025-01-22 DOI:10.1002/acs.3964

Jiacheng Wang, Qingzhen Zhang, Jinkun Liu, Xing Chen, Cenbo Xue

{"title":"Vibration Suppression and Adaptive Fault-Tolerant Control for Three-Dimensional Flexible Rotating Manipulator With Input Signal Constraints","authors":"Jiacheng Wang, Qingzhen Zhang, Jinkun Liu, Xing Chen, Cenbo Xue","doi":"10.1002/acs.3964","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>Based on a three-dimensional flexible, rotating manipulator, this paper is dedicated to the issue of vibration suppression and angle planning subject to actuator failures and input signal constraints. Considering that a flexible link belongs to a distributed parameter system, the motion model is obtained by Hamilton's principle and described by partial differential equations (PDEs). A novel fault-tolerant control law is proposed to eliminate the elastic deflection and vibration of the flexible link and to follow the desired angle of the rotating base and the manipulator with the appearance of actuator failures. The adaptive operator based on projection mapping is adopted to estimate the loss of the actuator. In addition, the hyperbolic tangent function is employed to constrain the input signal so that it is within an adjustable interval. The Lyapunov's method and LaSalle invariance principle are applied to prove the stability and convergence of the closed-loop system. The simulation results are provided to demonstrate the effectiveness of the proposed method.</p>\n </div>","PeriodicalId":50347,"journal":{"name":"International Journal of Adaptive Control and Signal Processing","volume":"39 4","pages":"736-744"},"PeriodicalIF":3.9000,"publicationDate":"2025-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Adaptive Control and Signal Processing","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/acs.3964","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

Based on a three-dimensional flexible, rotating manipulator, this paper is dedicated to the issue of vibration suppression and angle planning subject to actuator failures and input signal constraints. Considering that a flexible link belongs to a distributed parameter system, the motion model is obtained by Hamilton's principle and described by partial differential equations (PDEs). A novel fault-tolerant control law is proposed to eliminate the elastic deflection and vibration of the flexible link and to follow the desired angle of the rotating base and the manipulator with the appearance of actuator failures. The adaptive operator based on projection mapping is adopted to estimate the loss of the actuator. In addition, the hyperbolic tangent function is employed to constrain the input signal so that it is within an adjustable interval. The Lyapunov's method and LaSalle invariance principle are applied to prove the stability and convergence of the closed-loop system. The simulation results are provided to demonstrate the effectiveness of the proposed method.

查看原文本刊更多论文

有输入信号约束的三维柔性旋转机械手的振动抑制和自适应容错控制

本文以三维柔性旋转机械臂为研究对象，研究了在执行机构失效和输入信号约束下的振动抑制和角度规划问题。考虑到柔性连杆属于分布参数系统，利用Hamilton原理得到了柔性连杆的运动模型，并用偏微分方程（PDEs）进行了描述。提出了一种新的容错控制律，以消除柔性连杆的弹性偏转和振动，并在执行机构出现故障时遵循旋转基座和机械手的期望角度。采用基于投影映射的自适应算子估计作动器的损耗。此外，采用双曲正切函数对输入信号进行约束，使其处于可调区间内。利用Lyapunov方法和LaSalle不变性原理证明了闭环系统的稳定性和收敛性。仿真结果验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

International Journal of Adaptive Control and Signal Processing 工程技术-工程：电子与电气

CiteScore

5.30

自引率

16.10%

发文量

163

审稿时长

5 months

期刊介绍： The International Journal of Adaptive Control and Signal Processing is concerned with the design, synthesis and application of estimators or controllers where adaptive features are needed to cope with uncertainties.Papers on signal processing should also have some relevance to adaptive systems. The journal focus is on model based control design approaches rather than heuristic or rule based control design methods. All papers will be expected to include significant novel material. Both the theory and application of adaptive systems and system identification are areas of interest. Papers on applications can include problems in the implementation of algorithms for real time signal processing and control. The stability, convergence, robustness and numerical aspects of adaptive algorithms are also suitable topics. The related subjects of controller tuning, filtering, networks and switching theory are also of interest. Principal areas to be addressed include: Auto-Tuning, Self-Tuning and Model Reference Adaptive Controllers Nonlinear, Robust and Intelligent Adaptive Controllers Linear and Nonlinear Multivariable System Identification and Estimation Identification of Linear Parameter Varying, Distributed and Hybrid Systems Multiple Model Adaptive Control Adaptive Signal processing Theory and Algorithms Adaptation in Multi-Agent Systems Condition Monitoring Systems Fault Detection and Isolation Methods Fault Detection and Isolation Methods Fault-Tolerant Control (system supervision and diagnosis) Learning Systems and Adaptive Modelling Real Time Algorithms for Adaptive Signal Processing and Control Adaptive Signal Processing and Control Applications Adaptive Cloud Architectures and Networking Adaptive Mechanisms for Internet of Things Adaptive Sliding Mode Control.