Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraint
Abstract In this paper, a multi-fault tolerant controller considering actuator saturation is proposed. Based on the adaptive dynamic programming(ADP) algorithm, the fault tolerant control of the reconfigurable manipulator with sensor and actuator faults are carried out. Firstly, combined with the st...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Springer
2024-08-01
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| Series: | Complex & Intelligent Systems |
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| Online Access: | https://doi.org/10.1007/s40747-024-01550-9 |
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| author | Zhenguo Zhang Tianhao Ma Yadan Zhao Shuai Yu Fan Zhou |
| author_facet | Zhenguo Zhang Tianhao Ma Yadan Zhao Shuai Yu Fan Zhou |
| author_sort | Zhenguo Zhang |
| collection | DOAJ |
| description | Abstract In this paper, a multi-fault tolerant controller considering actuator saturation is proposed. Based on the adaptive dynamic programming(ADP) algorithm, the fault tolerant control of the reconfigurable manipulator with sensor and actuator faults are carried out. Firstly, combined with the state space expression, the nonlinear transformation of sensor fault is performed by adopting the differential homeomorphism principle. An improved cost function is constructed based on the fault estimation function obtained by the fault observer, and combined with hyperbolic tangent function to deal with input constraint problem. Then, an evaluation neural network (NN) is established and the Hamilton–Jacobi–Bellman (HJB) equation is solved by online strategy iterative algorithm. Furthermore, based on Lyapunov theorem, the stability of reconfigurable manipulator systems with multi-fault are proved. Lastly, the simulation studies are used to certify the effectiveness of the presented fault tolerant control (FTC) scheme. |
| format | Article |
| id | doaj-art-dca2a9b2fa334a3ab94f604bea2e2cef |
| institution | OA Journals |
| issn | 2199-4536 2198-6053 |
| language | English |
| publishDate | 2024-08-01 |
| publisher | Springer |
| record_format | Article |
| series | Complex & Intelligent Systems |
| spelling | doaj-art-dca2a9b2fa334a3ab94f604bea2e2cef2025-08-20T01:50:39ZengSpringerComplex & Intelligent Systems2199-45362198-60532024-08-011068341835310.1007/s40747-024-01550-9Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraintZhenguo Zhang0Tianhao Ma1Yadan Zhao2Shuai Yu3Fan Zhou4School of Mechatronic Engineering, Changchun University of TechnologyLtd. of China Power Engineering Consulting Group, Northeast Electric Power Design Institute CoSchool of Electrical and Electronic Engineering, Changchun University of TechnologySchool of Electrical and Electronic Engineering, Changchun University of TechnologySchool of Electrical and Electronic Engineering, Changchun University of TechnologyAbstract In this paper, a multi-fault tolerant controller considering actuator saturation is proposed. Based on the adaptive dynamic programming(ADP) algorithm, the fault tolerant control of the reconfigurable manipulator with sensor and actuator faults are carried out. Firstly, combined with the state space expression, the nonlinear transformation of sensor fault is performed by adopting the differential homeomorphism principle. An improved cost function is constructed based on the fault estimation function obtained by the fault observer, and combined with hyperbolic tangent function to deal with input constraint problem. Then, an evaluation neural network (NN) is established and the Hamilton–Jacobi–Bellman (HJB) equation is solved by online strategy iterative algorithm. Furthermore, based on Lyapunov theorem, the stability of reconfigurable manipulator systems with multi-fault are proved. Lastly, the simulation studies are used to certify the effectiveness of the presented fault tolerant control (FTC) scheme.https://doi.org/10.1007/s40747-024-01550-9Reconfigurable manipulatorActuator saturationAdaptive dynamic programmingSensor and actuator faultsOptimal control |
| spellingShingle | Zhenguo Zhang Tianhao Ma Yadan Zhao Shuai Yu Fan Zhou Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraint Complex & Intelligent Systems Reconfigurable manipulator Actuator saturation Adaptive dynamic programming Sensor and actuator faults Optimal control |
| title | Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraint |
| title_full | Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraint |
| title_fullStr | Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraint |
| title_full_unstemmed | Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraint |
| title_short | Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraint |
| title_sort | adaptive dynamic programming based multi fault tolerant control of reconfigurable manipulator with input constraint |
| topic | Reconfigurable manipulator Actuator saturation Adaptive dynamic programming Sensor and actuator faults Optimal control |
| url | https://doi.org/10.1007/s40747-024-01550-9 |
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