Based on the PDE model, an adaptive fault-tolerant control scheme is proposed to restrict the elastic vibration of the flexible manipulator with actuation redundancy. RBF neural networks are used to compensate the effect of system uncertainty. With the proposed control, the closed-loop system is asymptotically stable and its asymptotic stability is proven by extending LaSalle’s invariance principle.


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    Title :

    Adaptive Fault-Tolerant Control of Vehicle-Mounted Flexible Manipulator


    Additional title:

    Springer Tracts in Mechanical Engineering


    Contributors:
    Xing, Xueyan (author) / Liu, Jinkun (author)


    Publication date :

    2021-05-19


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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