Fuzzy Adaptive Containment Control for Nonlinear Multi-Manipulator Systems With Actuator Faults and Predefined Accuracy

Compensating for the infinite number of actuator faults considered in nonlinear multi-manipulator systems is a significant, yet a crucial issue for control problems. In view of this, a novel fuzzy adaptive fault-tolerant control algorithm is proposed for nonlinear multi-manipulator systems to eliminate the influence of actuator faults and improve accuracy essentially, as well as achieve the objective of containment. First, a Lyapunov function is constructed by replacing the square term of the error with a series of smooth functions. Moreover, a predefined accuracy function is introduced and a new fuzzy adaptive fault-tolerant containment control scheme is designed. This overcomes the problem that existing methods cannot guarantee the negative-definite property of time derivative of Lyapunov function between two adjacent actuator faults. And it also ensures the boundedness of containment errors. Furthermore, projection-based adaptive parameters and the turning function are fused to compensate the influence of actuator faults. Finally, the effectiveness of the designed control scheme is verified by a simulation example of multiple single-link manipulator systems.