Fuzzy Disturbance Observers-Based Adaptive Fault-Tolerant Control for an Uncertain Constrained Automatic Flexible Robotic Manipulator

摘要

This 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 designed for the position and angular loop subsystems, a new adaptive fault-tolerant control scenario is adopted to ensure semiglobal 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.