Cooperative Fault-Tolerant Control for a Mobile Dual Flexible Manipulator With Output Constraints

This article discusses cooperative control of a mobile dual flexible manipulator system with asymmetric time-varying output constraints and actuator failures. The shift function and a barrier Lyapunov function (BLF) are used to guarantee output constraints when the initial states of the system violate the prescribed constraints. Moreover, an adaptive fault-tolerant control scheme is developed to deal with actuator failures, while suppressing system's vibration and achieving cooperative operation. Finally, theoretic analysis proves the uniform bounded stability of the system and numerical simulation verifies the effectiveness of the proposed control method.