Adaptive Fault Tolerant Consensus Tracking Control for Flexible Manipulators MASs With Input Quantization and...

Area of Science:

• Robotics and Control Systems
• Applied Mathematics
• Mechanical Engineering

Background:

• Flexible manipulators are prone to vibrations and complex dynamics.
• Control challenges arise from input quantization, actuator failures, and unmodeled dynamics.
• Cooperative tracking control for multi-manipulator systems is crucial for advanced applications.

Purpose of the Study:

• To develop a robust control strategy for vibration suppression and angle cooperative tracking in multiple flexible manipulators.
• To address the challenges posed by input quantization, actuator failures, and unmodeled system dynamics.
• To ensure consensus in manipulator angles and mitigate elastic deformation.

Main Methods:

• Design of an intermediate control law incorporating a novel smooth function.
• Development of a control strategy to counteract quantization and actuator fault effects.
• Utilization of Lyapunov stability theory for closed-loop system analysis.

Main Results:

• Achieved consensus in the angles of all flexible manipulators through mutual communication.
• Successfully suppressed elastic deformation in each flexible manipulator.
• Demonstrated asymptotic stability of the closed-loop system via numerical simulations.

Conclusions:

• The proposed control method effectively addresses vibration suppression and cooperative tracking for flexible manipulators.
• The controller robustly handles input quantization, actuator failures, and unmodeled dynamics.
• Numerical simulations confirm the practical viability and effectiveness of the developed control strategy.