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有效因子融合的可重构机械臂分散容错控制方法 被引量：2

Effectiveness factor integrated decentralized fault tolerant control scheme for reconfigurable manipulators
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摘要 针对含有动态摩擦的可重构机械臂轨迹跟踪执行器部分失效故障的问题,提出一种基于有效因子融合的分散反演滑模容错控制方法。将可重构机械臂的每个关节模块考虑成一个子系统,将有效因子融合到子系统动力学模型中。基于Lyapunov稳定性理论,子系统误差状态空间分别采用了反演思想和终端滑模进行控制器设计,并利用径向基函数(RBF)神经网络估计系统模型的不确定项和交联项,自适应地补偿了神经网络的估计误差。最后,数值仿真结果表明了提出的分散容错方法的有效性。 A decentralized backstepping sliding mode fault tolerant scheme was developed to prevent partial loss of actuator effectiveness of reeonfigurable manipulators with dynamic friction. An effectiveness factor was integrated into the dynamic model of each module subsystem of the reeonfigurahle manipulators. Lyapunov stability theory was used to develop backstepping and terminal sliding techniques for controller design in subsystem state error space. The radial basis function （RBF） neural networks, uncertainty terms and interconnection terms were estimated with adaptive compensation of the estimation error. Simulations show the effectiveness of this decentralized fault tolerant scheme.
作者 赵博 李元春 刘克平
机构地区 吉林大学汽车仿真与控制国家重点实验室 长春工业大学控制工程系
出处 《清华大学学报（自然科学版）》 EI CAS CSCD 北大核心 2012年第9期1218-1222,1229,共6页 Journal of Tsinghua University(Science and Technology)
基金 国家自然科学基金面上项目(60974010 60674091) 吉林省科技发展计划项目(20110705)
关键词 可重构机械臂 容错控制 有效因子融合 部分失效故障 反演滑模 reconfigurable manipulators fault tolerant control effective factor integration partial loss of actuator effectiveness hackstepping sliding mode
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献13

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二级参考文献22

  • 1李英,朱明超,李元春.可重构机械臂模糊神经补偿控制[J].吉林大学学报（工学版）,2007,37(1):206-211. 被引量：6
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共引文献20

同被引文献34

  • 1洪在地,贠超,陈力.柔性臂漂浮基空间机器人建模与轨迹跟踪控制[J].机器人,2007,29(1):92-96. 被引量：62
  • 2Paredis C J J, Brown H B, Khosla P K. Rapidly deployable manipulator system. Robotics and Autonomous Systems, 1997, 21(3): 289-304.
  • 3Edwards C, Alwi H, Tan C P. Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems. International Journal of Applied Mathematics and Computer Science, 2012, 22(1): 109-124.
  • 4Siqueira A A G, Terra M H, Buosi C. Fault-tolerant robot manipulators based on output-feedback H∞ controllers. Robotics and Autonomous Systems, 2007, 55(10): 785-794.
  • 5Mirzaee A, Salahshoor K. Fault diagnosis and accommodation of nonlinear systems based on multiple-model adaptive unscented Kalman filter and switched MPC and H-infinity loop-shaping controller. Journal of Process Control, 2012, 22(3): 626-634.
  • 6Tan C P, Habib M K. The development of a fault-tolerant control approach and its implementation on a flexible arm robot. Advanced Robotics, 2007, 21(8): 887-904.
  • 7de Silva C W, Wong K. Online fault identification and fault-tolerant control of a multi-module manipulator. International Journal of Robotics and Automation, 2010, 25(3): 217-228.
  • 8Edwards C, Tan C P. Sensor fault tolerant control using sliding mode observers. Control Engineering Practice, 2006, 14(8): 897-908.
  • 9Izumikawa Y, Yubai K, Hirai J. Fault-tolerant control system of flexible arm for sensor fault by using reaction force observer. IEEE/ASME Transactions on Mechatronics, 2005, 10(4): 391-396.
  • 10Wu G Q, Lin B J, Zhang S C. Fault-tolerant backstepping attitude control for autonomous airship with sensor failure. Procedia Engineering, 2012, 29: 2022-2027.

引证文献2

二级引证文献14

清华大学学报（自然科学版）
2012年 第9期

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