Adaptive Fault Tolerant Consensus Tracking Control for Flexible Manipulators MASs With Input Quantization and Time-Varying Delay
研究了多个柔性机械臂在输入量化、执行器故障和未建模动态下的振动抑制与角度协同跟踪控制问题，设计了中间控制律实现角度一致和弹性变形抑制。
This article mainly investigates the problem of vibration suppression and angle cooperative tracking control of a multiple flexible manipulators described by partial differential equations (PDEs) with input quantization, actuator failures, and unmodeled system dynamics. An intermediate control law is designed, and a smooth function with a positive integrable time-varying function is introduced. Besides, a new smooth function is constructed in the control law to handle the influence of quantization and actuator faults. Under the designed controller, the angles of all flexible manipulators can reach consensus through mutual communication, and the elastic deformation of each flexible manipulator can also be suppressed. Furthermore, the asymptotic stability of a closed-loop system is realized based on the Lyapunov function. Finally, numerical simulation validates the effectiveness of the method.