PDE Model-based Adaptive Control for Rigid-flexible Manipulator with Actuator Fault and Asymmetric Output Constraint

This article considered a PDE-based adaptive control method for the coupled rigid-flexible manipulator system with actuator failure and asymmetric output constraint. By using the coupled ordinary differential equations and partial differential equation (ODEs-PDE) model to describe the dynamics of the system. To deal with the actuator failures, adaptive direct joint control strategy is studied to ensure the position tracking and vibration suppression. Besides, a piecewise barrier Lyapunov function (BLF) candidate method is proposed to guarantee asymmetric output constraints. The semigroup theory and the extended LaSalle’s Invariance Principle are applied to prove the asymptotic stability of the coupled rigid-flexible system. The contrast simulation shows that the controller is effective.