Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties

doi:10.1109/JAS.2023.123093

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	Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties
	Yu Liu; Lin Li
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2023
卷号	10 期号:4 页码:1020-1031
摘要	In this paper, the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures, parameter uncertainties, and unknown time-varying boundary disturbances is addressed. The purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual leader. Following the accomplishment of the reconstruction of the fault terms and parameter uncertainties, the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded disturbances. Furthermore, the Lyapunov stability theory is used to demonstrate that followers’ angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately bounded. Finally, the numerical simulation results confirm the efficacy of the proposed controllers.
关键词	Actuator failures leader-follower consensus multiple flexible manipulators neural network parameter uncertainties
DOI	10.1109/JAS.2023.123093
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/51457
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yu Liu,Lin Li. Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(4):1020-1031.
APA	Yu Liu,&Lin Li.(2023).Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties.IEEE/CAA Journal of Automatica Sinica,10(4),1020-1031.
MLA	Yu Liu,et al."Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties".IEEE/CAA Journal of Automatica Sinica 10.4(2023):1020-1031.

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