Predetermined Accuracy Control of a Flexible Robotic Arm with Actuator Failure
This paper investigates fault compensation for flexible robotic arms with dynamic uncertainties.Aging,wear,or improper operation during maintenance can cause mechanical components to partially fail or jam,making fault parameters difficult to measure.Actuator faults can affect system stability and potentially lead to instability.To address this,we employ adaptive control to manage actuator faults with unknown patterns,ensuring rapid compensation under both unknown and parameterized fault modes.Additionally,using fuzzy logic systems to handle unknown nonlinear functions,combined with a class of smooth functions for controller design,ensures that the system tracking error converges within a specified performance range.Simulation experiments using a single-link flexible robotic arm demonstrate the effectiveness of the proposed control scheme.
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