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Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection

This study proposed a novel adaptive interval Type-II fuzzy fault-tolerant control for constrained uncertain 2-DOF robotic multi-agent systems with an active fault-detection algorithm. This control method can realize the predefined-accuracy stability of multi-agent systems under input saturation con...

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Detalles Bibliográficos
Autores principales: Yan, Wen, Tu, Haiyan, Qin, Peng, Zhao, Tao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10223679/
https://www.ncbi.nlm.nih.gov/pubmed/37430749
http://dx.doi.org/10.3390/s23104836
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author Yan, Wen
Tu, Haiyan
Qin, Peng
Zhao, Tao
author_facet Yan, Wen
Tu, Haiyan
Qin, Peng
Zhao, Tao
author_sort Yan, Wen
collection PubMed
description This study proposed a novel adaptive interval Type-II fuzzy fault-tolerant control for constrained uncertain 2-DOF robotic multi-agent systems with an active fault-detection algorithm. This control method can realize the predefined-accuracy stability of multi-agent systems under input saturation constraint, complex actuator failure and high-order uncertainties. Firstly, a novel active fault-detection algorithm based on pulse-wave function was proposed to detect the failure time of multi-agent systems. To the best of our knowledge, this was the first time that an active fault-detection strategy had been used in multi-agent systems. Then, a switching strategy based on active fault detection was presented to design the active fault-tolerant control algorithm of the multi-agent system. In the end, based on the interval type-II fuzzy approximated system, a novel adaptive fuzzy fault-tolerant controller was proposed for multi-agent systems to deal with system uncertainties and redundant control inputs. Compared with other relevant fault-detection and fault-tolerant control methods, the proposed method can achieve predefinition of stable accuracy with smoother control input. The theoretical result was verified by simulation.
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spelling pubmed-102236792023-05-28 Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection Yan, Wen Tu, Haiyan Qin, Peng Zhao, Tao Sensors (Basel) Article This study proposed a novel adaptive interval Type-II fuzzy fault-tolerant control for constrained uncertain 2-DOF robotic multi-agent systems with an active fault-detection algorithm. This control method can realize the predefined-accuracy stability of multi-agent systems under input saturation constraint, complex actuator failure and high-order uncertainties. Firstly, a novel active fault-detection algorithm based on pulse-wave function was proposed to detect the failure time of multi-agent systems. To the best of our knowledge, this was the first time that an active fault-detection strategy had been used in multi-agent systems. Then, a switching strategy based on active fault detection was presented to design the active fault-tolerant control algorithm of the multi-agent system. In the end, based on the interval type-II fuzzy approximated system, a novel adaptive fuzzy fault-tolerant controller was proposed for multi-agent systems to deal with system uncertainties and redundant control inputs. Compared with other relevant fault-detection and fault-tolerant control methods, the proposed method can achieve predefinition of stable accuracy with smoother control input. The theoretical result was verified by simulation. MDPI 2023-05-17 /pmc/articles/PMC10223679/ /pubmed/37430749 http://dx.doi.org/10.3390/s23104836 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yan, Wen
Tu, Haiyan
Qin, Peng
Zhao, Tao
Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection
title Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection
title_full Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection
title_fullStr Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection
title_full_unstemmed Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection
title_short Interval Type-II Fuzzy Fault-Tolerant Control for Constrained Uncertain 2-DOF Robotic Multi-Agent Systems with Active Fault Detection
title_sort interval type-ii fuzzy fault-tolerant control for constrained uncertain 2-dof robotic multi-agent systems with active fault detection
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10223679/
https://www.ncbi.nlm.nih.gov/pubmed/37430749
http://dx.doi.org/10.3390/s23104836
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