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<p>This article proffers a vibration suppression and angular tracking strategy for a type of flexible robotic arm system under actuator failure and input–output constraints. For the robotic arm system with input saturation constraint, a new smooth nonlinear function is proposed to avoid potential chattering effects. For the arm system with time-varying output constraints, a Lyapunov function of logarithmic barrier type is established, then boundary controllers are devised to guarantee the asymmetric output constraints. When considering actuator faults and system parameter uncertainties, a novel adaptive fault-tolerant control scheme is put forward, and neural network functions are introduced to tackle the system parameter terms and input differences between input forces and input saturation. Then system stability is proven on account of Lyapunov stability theory and system well-posedness is analyzed by semi-group theory. Finally, the controllers’ good performance is verified through numerical simulation experiments.</p>

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Adaptive RBF-Based Fault-Tolerant Control of a Flexible Robotic Arm with Input–Output Constraints and Actuator Faults

  • 期刊论文

  • 发表日期：

    2026年6月30日

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  • Yan-Fang Mei,
  • Yong Zeng,
  • Zhi-Min Liu,
  • Fang Guo,
  • Yun Fu,
  • Chao Li

摘要

This article proffers a vibration suppression and angular tracking strategy for a type of flexible robotic arm system under actuator failure and input–output constraints. For the robotic arm system with input saturation constraint, a new smooth nonlinear function is proposed to avoid potential chattering effects. For the arm system with time-varying output constraints, a Lyapunov function of logarithmic barrier type is established, then boundary controllers are devised to guarantee the asymmetric output constraints. When considering actuator faults and system parameter uncertainties, a novel adaptive fault-tolerant control scheme is put forward, and neural network functions are introduced to tackle the system parameter terms and input differences between input forces and input saturation. Then system stability is proven on account of Lyapunov stability theory and system well-posedness is analyzed by semi-group theory. Finally, the controllers’ good performance is verified through numerical simulation experiments.