Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties
文献类型：期刊论文
| 作者 | Yu Liu ; Lin Li
|
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:4页码:1020-1031 |
| ISSN号 | 2329-9266 |
| 关键词 | Actuator failures leader-follower consensus multiple flexible manipulators neural network parameter uncertainties |
| DOI | 10.1109/JAS.2023.123093 |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/51457]  |
| 专题 | 自动化研究所_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. |
入库方式： OAI收割
来源：自动化研究所
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