Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active...

Area of Science:

• Robotics
• Control Systems
• Artificial Intelligence

Background:

• Robotic multi-agent systems face challenges with actuator failures and input constraints.
• Existing fault-tolerant control methods may not guarantee predefined accuracy or smooth control inputs.

Purpose of the Study:

• To develop an adaptive interval Type-II fuzzy fault-tolerant control for constrained uncertain 2-DOF robotic multi-agent systems.
• To introduce a novel active fault-detection algorithm for timely failure identification.

Main Methods:

• Proposed a novel active fault-detection algorithm using a pulse-wave function.
• Designed a switching strategy based on active fault detection for fault-tolerant control.
• Developed an adaptive interval Type-II fuzzy controller to handle uncertainties and redundant inputs.

Main Results:

• The proposed method achieves predefined-accuracy stability for multi-agent systems under input saturation and actuator failures.
• The active fault-detection strategy is applied for the first time in multi-agent systems.
• The adaptive fuzzy fault-tolerant controller ensures smoother control inputs compared to existing methods.

Conclusions:

• The novel adaptive interval Type-II fuzzy fault-tolerant control effectively addresses constraints and uncertainties in robotic multi-agent systems.
• The integration of active fault detection enhances system reliability and performance.
• Simulation results verify the theoretical findings and the superiority of the proposed approach.