Adaptive Fault-Tolerant Control for a Flexible Manipulator of Output-Constrained

Adaptive fault-tolerant control of actuator partial failure for a flexible manipulator with bounded disturbance and output constraints is proposed in this paper. The control laws are designed by the backstepping technique., and the bounded disturbance is compensated via introducing a robust item. The Barrier Lyapunov Function is presented to prevent the output constraint violation. The stability of the closed-loop system is guaranteed via the Lyapunov method. Finally., the effectiveness and rationality of the control scheme is finally verified by the simulation results.