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.
Adaptive Fault-Tolerant Control of Vehicle-Mounted Flexible Manipulator
Springer Tracts in Mechanical Engineering
Vibration Control Methods of Mechanical Distributed Parameter Systems ; Chapter : 7 ; 131-142
2021-05-19
12 pages
Article/Chapter (Book)
Electronic Resource
English
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