具有执行器故障的柔性机械臂预定精度控制

Predetermined Accuracy Control of a Flexible Robotic Arm with Actuator Failure

探讨了具有动态不确定性的柔性机械臂故障补偿问题。由于系统的机械设备出现老化、磨损或维修过程出现操作不当,会导致执行器部分失效或卡死,但在执行器故障期间与故障相关的参数难以测量。若系统发生执行器故障,可能会对系统的稳定性造成影响,甚至会使系统出现不稳定的情况。使用自适应控制方法,处理存在未知模式的执行器故障以及参数故障的情况,保证系统快速补偿达到稳态状态。并且,通过使用模糊逻辑系统处理未知的非线性函数,并结合一类光滑函数作为控制器设计,保证系统跟踪误差收敛到指定的性能区间。仿真实验中,以单连杆柔性机械臂控制的故障补偿为例,证明了本文所提控制方案的有效性。

This paper investigates fault compensation for flexible robotic arms with dynamic uncertainties.Aging,wear,or improper operation during maintenance can cause mechanical components to partially fail or jam,making fault parameters difficult to measure.Actuator faults can affect system stability and potentially lead to instability.To address this,we employ adaptive control to manage actuator faults with unknown patterns,ensuring rapid compensation under both unknown and parameterized fault modes.Additionally,using fuzzy logic systems to handle unknown nonlinear functions,combined with a class of smooth functions for controller design,ensures that the system tracking error converges within a specified performance range.Simulation experiments using a single⁃link flexible robotic arm demonstrate the effectiveness of the proposed control scheme.