Fault-Estimation Design Based on an Iterative Learning Scheme for Interconnected Multi-Flexible Manipulator Systems with Arbitrary Initial Value
Abstract
:1. Introduction
- (1)
- To address the problem of arbitrary initial value offsets in each subsystem of an interconnected multi-flexible manipulator system, a novel initial value reconstruction method based on an iterative learning strategy is proposed, which eliminates the adverse effects induced by arbitrary initial value offsets within interconnected multi-flexible manipulator systems.
- (2)
- Considering the interconnections among the flexible manipulator subsystems, an iterative learning fault-estimation method is designed. This method can quickly and accurately estimate the fault signals occurring in each subsystem.
2. Problem Formulation and Preliminaries
2.1. Interconnected Nonlinear System
2.2. Fault-Estimation Design Based on Iterative Learning Control
2.3. Problem Analysis
- (1)
- How to track the fault signal well?
- (2)
- How to eliminate the effect of initial value changes?
3. Convergence Analysis
4. Simulation Results and Discussion
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Feng, L.; Chen, G.; Xu, S.; Du, K. Fault-Estimation Design Based on an Iterative Learning Scheme for Interconnected Multi-Flexible Manipulator Systems with Arbitrary Initial Value. Actuators 2023, 12, 443. https://doi.org/10.3390/act12120443
Feng L, Chen G, Xu S, Du K. Fault-Estimation Design Based on an Iterative Learning Scheme for Interconnected Multi-Flexible Manipulator Systems with Arbitrary Initial Value. Actuators. 2023; 12(12):443. https://doi.org/10.3390/act12120443
Chicago/Turabian StyleFeng, Li, Guangxi Chen, Shuiqing Xu, and Kenan Du. 2023. "Fault-Estimation Design Based on an Iterative Learning Scheme for Interconnected Multi-Flexible Manipulator Systems with Arbitrary Initial Value" Actuators 12, no. 12: 443. https://doi.org/10.3390/act12120443