Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems

<div>The trajectories of state variable <svg height="9.39034pt" id="M320" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 11.1659 9.39034" width="11.1659pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M471 401C471 442 455 448 440 448C421 448 389 439 366 424C314 390 233 331 165 242H163L187 345C193 372 197 393 197 409C197 435 189 448 174 448C146 448 80 408 23 349L40 327C64 351 97 373 107 373C115 373 118 366 111 337L29 -4L36 -12C56 -4 83 3 110 9C123 69 136 126 150 172C227 283 336 381 377 381C392 381 396 370 379 298L326 74C290 -77 273 -172 273 -197C273 -219 316 -261 346 -261L353 -246C348 -227 352 -174 374 -66L457 310C467 352 471 381 471 401Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.097,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg> for Example <a href="https://static.hindawi.com/articles/complexity/volume-2024/5344619/figures/#ex2">2</a>.</div>

Complexity

fig10

Figure 10

Figure 10: Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems 

Figure 10 | Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems 