Distributed fault-tolerant consensus tracking control for multiple Lagrangian systems with preset error bound constraints |
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| Institution: | 1. College of Artificial Intelligence, Nankai University, Tianjin 300350, China;2. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China;1. College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, China;2. School of Information Science and Engineering, East China University of Science and Technology, Shanghai 200237, China;1. School of Automation, Guangdong University of Technology, Guangzhou, Guangdong 510006, China;2. Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangzhou, Guangdong 510006, China;3. School of Computer Science and Engineering, South China University of Technology, Guangzhou, Guangdong 510006, China;1. Faculty of Science, Yibin University, Yibin, Sichuan 644000, China;2. College of Electronic and Information Engineering, Southwest University, Chongqing 400715, China;3. School of Mathematical and Statistics, Southwest University, Chongqing 400715, China;4. School of Mathematical Sciences, University of Electronic Science and Technology of China, Chengdu 611731, China |
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| Abstract: | Actuator faults often occur in physical systems, which seriously affect the transient performance and control accuracy of the system. For the finite-time consensus tracking problem of multiple Lagrangian systems with actuator faults and preset error constraints, a novel distributed fault-tolerant controller is proposed in this paper. The proposed controller is developed based on the barrier Lyapunov function method and the adding a power integrator technique, which can not only guarantee the steady-state performance of the system but also its transient performance. Due to its strong sensitivity to the variation of system errors, the proposed controller can quickly eliminate the system initial errors and the error perturbations caused by actuator faults. That is, the controller can guarantee that the consensus error converges to zero in a finite time and is always constrained within the preset error bound. Finally, the effectiveness of the developed controller is verified by simulation of a multi-manipulator system. |
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