Observer-based Boundary Vibration Fault-tolerant Control of a Robotic Arm With Time-varying Output Constraints

This paper proffers a novel observer-based boundary control scheme to realize the vibration suppression and fault compensation of a flexible robotic arm system. A high- gain observer is proposed to estimate the unmeasurable system state, and a novel disturbance observer is designed to estimate the external disturbances. The fault-tolerant control is also proposed to compensate for fault signals. By employing barrier Lyapunov functions method, the asymmetric time-varying output constraint is guaranteed. The good control performance is analyzed and testified by simulation experiments.