Fuzzy Adaptive Containment Control for Nonlinear Multi-Manipulator Systems With Actuator Faults and Predefined Accuracy
Huadi Shan, Yulian Jiang, Hongjing Liang, Shenquan Wang, Hak‐Keung Lam
Abstract
Compensating for the infinite number of actuator faults considered in nonlinear multi-manipulator systems is a significant, yet a crucial issue for control problems. In view of this, a novel fuzzy adaptive fault-tolerant control algorithm is proposed for nonlinear multi-manipulator systems to eliminate the influence of actuator faults and improve accuracy essentially, as well as achieve the objective of containment. First, a Lyapunov function is constructed by replacing the square term of the error with a series of smooth functions. Moreover, a predefined accuracy function is introduced and a new fuzzy adaptive fault-tolerant containment control scheme is designed. This overcomes the problem that existing methods cannot guarantee the negative-definite property of time derivative of Lyapunov function between two adjacent actuator faults. And it also ensures the boundedness of containment errors. Furthermore, projection-based adaptive parameters and the turning function are fused to compensate the influence of actuator faults. Finally, the effectiveness of the designed control scheme is verified by a simulation example of multiple single-link manipulator systems.