Adaptive Inverse Compensation Fault-Tolerant Control for a Flexible Manipulator with Unknown Dead-zone and Actuator Faults

Zhao Z., Tan Z., Liu Z., EFE M. Ö., Ahn C. K.

IEEE Transactions on Industrial Electronics, vol.70, no.12, pp.12698-12707, 2023 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 70 Issue: 12
  • Publication Date: 2023
  • Doi Number: 10.1109/tie.2023.3239926
  • Journal Name: IEEE Transactions on Industrial Electronics
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Aerospace Database, Applied Science & Technology Source, Business Source Elite, Business Source Premier, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC, Metadex, Civil Engineering Abstracts
  • Page Numbers: pp.12698-12707
  • Keywords: Adaptive control, fault-tolerant control (FTC), flexible manipulator, inverse compensation, vibration control
  • Hacettepe University Affiliated: Yes


This study presents an adaptive inverse compensation control of a flexible single-link manipulator with an unknown dead-zone and actuator faults. First, a dead-zone inverse model and a smooth inverse operator are constructed to address dead-zone nonlinearity. Second, an adaptive fault-tolerant control is utilized to compensate for the partial loss of the effectiveness of the actuator. Third, the coupling errors of the dead-zone and faults are effectively removed and resolved by introducing an estimate for unknown bounds. Then, the direct Lyapunov theory is used to guarantee uniformly ultimately bounded stability in the controlled system. Finally, the simulations and experiments demonstrate the efficiency of the presented method.