Fault-tolerant practical tracking control for uncertain robotic system with general reference trajectory and output constraint |
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| Institution: | 1. Zhengzhou University of Aeronautics, Zhengzhou, Henan 450046, China;2. School of Automation, Hubei University of Science and Technology, Xianning Avenue 88, Xianning, Hubei Province, 437100, P. R. China;1. College of Electrical Engineering, Shenyang University of Technology, No. 111, Shenliao West Road, Economic & Technological Development Zone, Shenyang, PR China;2. College of Computer Science and Engineering, Northeastern University, No. 3-11, Wenhua Road, Heping District, Shenyang, PR China;3. State Grid Shenyang Electric Power Supply Company, No. 94, Bajing Street, Heping District, Shenyang, PR China;4. Neusoft Corporation, No. 94, No.2 Xinxiu Street, Hunnan District, Shenyang 110179, PR China;1. School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China;2. School of Communication and Electronics, Jiangxi Science and Technology Normal University, Nanchang 330013, China;3. School of Mechano-electronic Engineering, Xidian University, Xi’an 710071, China;1. School of Artificial Intelligence and Automation, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Wuhan, China;2. China Ship Development and Design Center, Wuhan, China |
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| Abstract: | This paper is devoted to the fault-tolerant tracking control for a class of uncertain robotic systems under time-varying output constraints. Notably, both actuator fault and the disturbances are present while all the dynamic matrices are not necessarily to be parameterized by unknown parameters or have known nominal parts, and moreover, the reference trajectories as well as the output constraints functions are not necessarily twice continuously differentiable without any time derivatives of them being available for feedback. These remarkable characteristics greatly relax the corresponding assumptions of the related literature and in turn to bring the ineffectiveness of the traditional schemes on this topic. For this, a powerful adaptive control methodology is established by incorporating adaptive dynamic compensation technique into the backstepping framework based on Barrier Lyapunov functions. Then, an adaptive state feedback controller with the smart choices of adaptive law and virtual controls is designed which guarantees that all the states of the closed-loop system are bounded and the system output practically tracks the reference trajectory while not violates the output constraints. |
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