Adaptive Fuzzy Event-Triggered Control for Single-Link Flexible-Joint Robots With Actuator Failures
IEEE Transactions on Cybernetics
|January 27, 2021
Summary
This study presents an adaptive fuzzy fault-tolerant control strategy for flexible-joint robot systems facing actuator failures. The method ensures finite-time tracking error convergence, enhancing robot control reliability.
Area of Science:
- Robotics
- Control Systems Engineering
- Artificial Intelligence
Background:
- Single-link flexible-joint robot systems are crucial in automation but susceptible to actuator failures.
- Ensuring precise tracking control under such failures presents significant challenges, including the 'explosion of complexity' issue.
- Existing control strategies may not adequately address both fault tolerance and resource efficiency.
Purpose of the Study:
- To develop an adaptive fuzzy fault-tolerant control strategy for single-link flexible-joint robot systems with actuator failures.
- To address the 'explosion of complexity' problem inherent in complex robotic systems.
- To improve tracking accuracy and ensure finite-time convergence of errors while conserving communication resources.
Main Methods:
- Utilized command filtering technology combined with the backstepping method to manage system complexity.
- Employed fuzzy logic systems for identifying and compensating for unknown nonlinearities.
- Implemented an event-triggered mechanism with a relative threshold strategy to optimize communication.
Main Results:
- Successfully mitigated the 'explosion of complexity' issue in the control design.
- Achieved finite-time convergence of the tracking error to a small neighborhood of the origin.
- Demonstrated the effectiveness of the adaptive fuzzy fault-tolerant control strategy through simulations.
Conclusions:
- The proposed adaptive fuzzy fault-tolerant control strategy is effective for single-link flexible-joint robot systems with actuator failures.
- The integration of command filtering, fuzzy logic, and event-triggering enhances control performance and resource efficiency.
- The finite-time stability theory guarantees robust and timely tracking performance.
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