Predefined-Time Fault-Tolerant Consensus Tracking Control for Multiple Flexible Robotic Manipulator Systems with Prescribed Performance

Chaowen He; Alain Martinez; Ben Niu; Deepak Kumar Jain; Yuqiang Jiang; Dmytro Zubov; Yuanxin Li; Xiaomei Wang

Abstract

This article focuses on the predefined-time fault-tolerant consensus tracking control problem for the multiple single-link flexible robotic manipulator systems (FRMSs) with prescribed performance. Firstly, a predefined time performance function is provided to ensure the tracking error of the flexible robotic manipulator system (FRMS) reaches a predefined accuracy within a predefined time. Second, a new error coordinate system replaces the original control system to constrain the consensus control errors between the leader and the follower of the multiple FRMSs maintain the area set by the user. Thirdly, considering that the actuators of the multiple FRMSs are vulnerable to faults during long periods of operation, an adaptive compensation mechanism is proposed to improve the FRMS's fault tolerance. Lastly, simulation results validate the effectiveness of the control scheme.

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