Dynamic event-based asymptotic tracking and vibration control for constrained flexible manipulator systems with intermittent faults

Abstract

The angle constraint and vibration suppression issues of flexible manipulator (FM) systems subjected to intermittent faults are addressed in this article. Firstly, integral barrier Lyapunov functions (BLFs) that can directly constrain the angular position are introduced, eliminating the feasibility conditions of traditional BLFs. Secondly, a triggering mechanism with dynamic variables is provided to reduce the transmission of redundant information, thereby saving communication resources. To mitigate the impact of intermittent faults and handle system, the boundary estimation method and the neural networks (NNs) technology considering the influence of approximation error are adopted, which reduces the conservatism of the developed control algorithm. Through Lyapunov stability theory and Hamiltonian principle, a dynamic event-based fault-tolerant controller is designed, suppressing the offset of the FM while ensuring that the angular position asymptotically tracks the ideal position without exceeding the given constraint boundary. Eventually, the simulation results demonstrate the rationality of the developed control scheme.