Barrier Lyapunov function (BLF) is used to design the switching fault-tolerant control for the vehicle-mounted flexible manipulator, which realizes the vibration suppression of the flexible manipulator and the payload when actuators are fault-free. Besides, the position regulation of the vehicle and the angle adjustment of the joint can also be achieved with healthy actuators. When the actuator fails, the designed control law can make the output signals of the system satisfy the output constraint.
Switching Fault-Tolerant Control of Vehicle-Mounted Flexible Manipulator System with Output Constraints
Springer Tracts in Mechanical Engineering
Vibration Control Methods of Mechanical Distributed Parameter Systems ; Kapitel : 8 ; 143-168
19.05.2021
26 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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