Adaptive Fuzzy Event-Triggered Control for Single-Link Flexible-Joint Robots With Actuator Failures
针对单连杆柔性关节机器人执行器故障下的有限时间跟踪控制问题，提出一种自适应模糊容错控制策略，结合命令滤波和反步法解决复杂度爆炸，利用事件触发机制节省通信资源。
This article studies the finite-time tracking control problem for the single-link flexible-joint robot system with actuator failures and proposes an adaptive fuzzy fault-tolerant control strategy. More precisely, the issue of "explosion of complexity" is successfully solved by incorporating the command filtering technology and the backstepping method. The unknown nonlinearities are identified with the help of the fuzzy logic system. An event-triggered mechanism with the relative threshold strategy is exploited to save communication resources. Furthermore, the proposed control design can guarantee that the tracking error converges to a small neighborhood of origin within a finite time by taking full advantage of the finite-time stability theory. Finally, the simulation example is presented to further verify the validity of the proposed control method.