Event-Triggered Robust Adaptive Fault-Tolerant Tracking and Vibration Control for the Rigid-Flexible Coupled Robotic Mechanisms With Large Beam-Deformations
针对水平面内大梁变形的刚柔耦合机器人机构，提出一种事件触发鲁棒自适应容错控制方法，实现角度跟踪与振动抑制，并减少通信次数。
A detailed modeling approach that utilizes the virtual work idea is developed for modeling the dynamical formulas of the rigid-flexible coupled robotic mechanisms (RFCRMs) with large beam-deformations across the horizontal plane. To follow the required angular positions of RFCRMs, a virtual robust linear quadratic state feedback (RLQSF) input is constructed using the converted full-actuated model in conjunction with an event-triggered robust adaptive fault-tolerant control (ETRAFTC) approach. The integration of virtual input and the proposed RLQSF law design enables simultaneous angular tracking and vibration elimination. To make up for the defective actuators with part loss of efficacy and evaluate the unknown fault parameters, an adaptive estimation law with a projection mapping operator is adopted. With the help of the Lyapunov direct approach, the angular position tracking errors and the flexible vibration of RFCRMs are demonstrated to converge to a tiny confined compact set with fewer communications. At last, the performance of the designed ETRAFTC is presented via three numerical scenarios.