Adaptive Control of a Flexible Manipulator With Unknown Hysteresis and Intermittent Actuator Faults

Shouyan Chen; Weitian He; Zhijia Zhao; Yun Feng; Zhijie Liu; Keum-Shik Hong

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2025 > In Press, Accepted Manuscript

S. Chen, W. He, Z. Zhao, Y. Feng, Z. Liu, and K. S. Hong, “Adaptive control of a flexible manipulator with unknown hysteresis and intermittent actuator faults,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 1–11, Jan. 2025.

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S. Chen, W. He, Z. Zhao, Y. Feng, Z. Liu, and K. S. Hong, “Adaptive control of a flexible manipulator with unknown hysteresis and intermittent actuator faults,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 1–11, Jan. 2025.

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Adaptive Control of a Flexible Manipulator With Unknown Hysteresis and Intermittent Actuator Faults

Funds: This work was supported in part by the National Key Research and Development Program of China (2023YFB4706400), the National Natural Science Foundation of China (62273112, 62073030, 62203161), the Guangdong Basic and Applied Basic Research Foundation (2023B1515120018, 2023B1515120019), the Open Project of Xiangjiang Laboratory (23XJ03012), the Natural Science Foundation of Hunan Province (2024JJ5087), the Natural Science Foundation of Jiangxi Province (20232BAB212024), the National Research Foundation of Korea funded by the Ministry of Science and ICT, South Korea (IRIS-2023-00207954), the Science and Technology Planning Project of Guangzhou, China (2023A03J0120), and the Guangzhou University Research Project (RC2023037)

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Author Bio:
Shouyan Chen received the B.Eng. degree in process control and the Ph.D. degree in mechanical design from the South China University of Technology, in 2008 and 2017, respectively. He is currently an Associate Professor at the School of Mechanical and Electrical Engineering, Guangzhou University. His research interests include robotics, human-robot interaction, and intelligent control

Weitian He received the M.S. degree in traffic transportation from Guangzhou University in 2023. He is currently a Ph.D. candidate in control theory and control engineering at the School of Control Science and Engineering and the Center for Intelligent Medical Engineering, Shandong University. His research interests include deterministic learning theory, adaptive learning control, intelligent control, and robotics

Zhijia Zhao (Member, IEEE) received the B.Eng. degree in automatic control in systems engineering from North China University of Water Resources and Electric Power in 2010, and the M.Eng. and Ph.D. degrees in automatic control from South China University of Technology in 2013 and 2017, respectively. He is currently a Professor at the School of Mechanical and Electrical Engineering, Guangzhou University. His research interests include adaptive and learning control, flexible mechanical systems, and robotics

Yun Feng received the Ph.D. degree from the Department of Systems Engineering and Engineering Management, City University of Hong Kong, China in 2020. He is currently an Associate Professor in the College of Electrical and Information Engineering, Hunan University, and also with the National Engineering Laboratory for Robot Visua Perception and Control Technology, Hunan University. His research interests include distributed parameter systems, fault diagnosis, and soft robotics. He was selected for the Young Elite Scientists Sponsorship Program by the China Association for Science and Technology in 2023

Zhijie Liu (Member, IEEE) received the B.Sc. degree in electrical engineering and automation from the China University of Mining and Technology Beijing in 2014 and the Ph.D. degree in control theory and control engineering from Beihang University in 2019, both in automatic control. In 2017, he was a Research Assistant with the Department of Electrical Engineering, University of Notre Dame, USA, for 12 months. He is currently a Professor with the School of Intelligence Science and Technology, University of Science and Technology Beijing. His research interests include adaptive control, modeling and vibration control for flexible structures, and distributed parameter systems

Keum-Shik Hong (Fellow, IEEE) received the B.S. degree in mechanical design from Seoul National University, South Korea in 1979, the M.S. degree in mechanical engineering from Columbia University, USA in 1987, and the M.E. degree in applied mathematics and the Ph.D. degrees in mechanical engineering from the University of Illinois at Urbana-Champaign, USA in 1991 and 1997, respectively. He joined the School of Mechanical Engineering, Pusan National University, South Korea in 1993. His research interests include brain-computer interface, nonlinear systems theory, adaptive control, and distributed parameter systems. Dr. Hong served as an Associate Editor of Automatica (2000–2006), as the Editor-in-Chief of the Journal of Mechanical Science and Technology (2008–2011), and serving as the Editor-in-Chief for the International Journal of Control, Automation, and Systems. He was the past President of the Institute of Control, Robotics and Systems (ICROS), South Korea, and the President of the Asian Control Association. He is a Fellow of the Korean Academy of Science and Technology, an ICROS Fellow, and a Member of the National Academy of Engineering of Korea. He has received many awards, including the Best Paper Award from the KFSTS of Korea in 1999 and the Presidential Award of Korea in 2007
Corresponding author: Zhijia Zhao, e-mail: zhaozj@gzhu.edu.cn
Received Date: 2024-05-02
Accepted Date: 2024-06-26

Available Online: 2024-10-11

Abstract

Abstract

In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second, a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently, by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally, the effectiveness of the proposed scheme is verified through numerical simulations and experiments.
- Adaptive control,
- flexible manipulator,
- intermittent actuator faults,
- inverse hysteresis dynamics,
- vibration control

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References(43)

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Adaptive Control of a Flexible Manipulator With Unknown Hysteresis and Intermittent Actuator Faults

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