Title: Event-triggered based actuator failure compensation for flexible manipulators

Authors: Shengjie Xing; Dong Zhao; Darong Huang

Addresses: School of Artificial Intelligence, Anhui University, Hefei, AH, 230601, China ' Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiaotong University, Shanghai, SH, 200240, China; School of Artificial Intelligence, Anhui University, Hefei, AH, 230601, China ' School of Artificial Intelligence, Anhui University, Hefei, AH, 230601, China

Abstract: Aiming at the problem of fault compensation of flexible single-link manipulator system, this paper proposes an adaptive boundary fault-tolerant control scheme based on event triggering. Firstly, a static event-triggered mechanism is constructed to decrease the consumption of input signal resources. Then, due to the improved Lyapunov method, the adaptive boundary fault-tolerant control rate and parameter updating rate are designed to ensure that the flexible single-link manipulator system can achieve posture tracking and suppress vibration in the case of actuator failure. Finally, the numerical simulation verify the validity of the proposed adaptive fault-tolerant control algorithm.

Keywords: adaptive control; boundary control; event-triggered mechanism; flexible manipulator; actuator fault.

DOI: 10.1504/IJSCIP.2025.150919

International Journal of System Control and Information Processing, 2025 Vol.4 No.4, pp.291 - 306

Received: 07 Dec 2024
Accepted: 27 Mar 2025
Published online: 05 Jan 2026 *

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