Event-Triggered Unified Prescribed Performance Control for Continuum Robots With Actuator Faults
Yifan Luo, Xiaomei Wang, Kai Zhao, Ben Niu · IEEE Transactions on Systems Man and Cybernetics Systems · 2025
In this article, we propose an event-triggered unified fault-tolerant control strategy for continuum robots with prescribed performance, considering multiple levels of actuator failures. First, by integrating a Kelvin–Voigt model, this article introduces an improved constant curvature model for continuum robots accounting for dissipative effects. Second, a comprehensive fault-handling framework is established, which combines extreme fault detection, dynamic actuator redundancy, and asymmetric performance recovery within the context of a unified prescribed performance. Third, by taking advantage of the dynamic characteristic of auxiliary variable and designing suitable event-triggering conditions, a dual-channel event-triggering mechanism is introduced to effectively reduce the number of triggers and optimize the utilization of communication resources. The proposed unified fault-tolerant control strategy ensures the boundedness of all signals in the closed-loop system and multiple kinds of prescribed performance behaviors under actuator failures. Simulation results validate the effectiveness of the proposed control strategy.