Asymptotical Fault-Tolerant Time-Varying Tracking Control of Networked Mobile Flexible Manipulators Under Prescribed Performances and DoS Attacks

• 成果类型: Article
• 署名作者: Yao, Xiangqian; Li, Xing; Liu, Zhijie; Gao, Huanli; Li, Jianqiang; Liu, Yu
• 署名单位: South China University of Technology; Northeastern University - China; Northeastern University - China; University of Science & Technology Beijing; South China University of Technology; Shenzhen University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3583101
• 发表日期: 2026
• 关键词: LEADER-FOLLOWER SYNCHRONIZATION; Euler-Lagrange systems; BOUNDARY; stabilization

摘要

This article focuses on the asymptotic time-varying consensus tracking for the mobile dual flexible manipulators with unknown gain faults, prescribed performances, and denial-of-service attacks. Our main contribution is to provide a novel distributed boundary control scheme for reaching the asymptotic consensus tracking of partial differential equation coupled ordinary differential equation systems under a heterogeneous linear leader. To this end, an adaptive distributed switched observer is first proposed to asymptotically observe the leader's signal, functioning effectively whether the network is under attack or not. Secondly, a servo system is introduced to generate the desired transverse displacement. Subsequently, the tracking errors of two angles and the moving positions of all agents can meet the prescribed transient performance requirements by utilizing barrier Lyapunov functions and finite-time performance functions. Moreover, adaptive radial basis function neural networks are used to approximate unknown parameters, and the adaptive technique is employed to compensate for gain faults and compound disturbances. The asymptotic convergence results and prescribed control performances for closed-loop systems are demonstrated using Lyapunov stability theory, and the well-posed problem is addressed using the operator semigroup methodology. Finally, the simulation results demonstrate the effectiveness of the designed boundary control laws.