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空间机器人执行器自适应分散容错控制算法设计
Design of adaptive decentralized fault-tolerant control algorithm for space robot under partial loss of actuator effectiveness
引用本文:雷荣华,陈力.空间机器人执行器自适应分散容错控制算法设计
Design of adaptive decentralized fault-tolerant control algorithm for space robot under partial loss of actuator effectiveness[J].计算力学学报,2019,36(4):477-482.
作者姓名:雷荣华  陈力
作者单位:福州大学 机械工程及自动化学院, 福州 350116,福州大学 机械工程及自动化学院, 福州 350116
基金项目:国家自然科学基金(11372073)资助项目.
摘    要:针对执行器发生部分失效故障的漂浮基空间机器人系统,提出了一种自适应H分散容错控制算法。利用拉格朗日第二类方程建立了系统的动力学模型。根据分散原理将系统分解为以基座或臂杆为单元的多个子系统,并将表示执行器控制能力的有效因子融入到每个子系统,使得单个子系统的执行器故障不会影响相邻执行器的正常运行。通过对每个故障子系统设计形式一致的自适应容错算法实现对整个系统的容错控制。仿真结果表明,与现有某非奇异终端滑模容错算法相比,本文算法具有更快的跟踪速度和更高的跟踪精度。

关 键 词:空间机器人  执行器故障  有效因子  自适应  容错控制
收稿时间:2018/5/29 0:00:00
修稿时间:2018/6/29 0:00:00

Design of adaptive decentralized fault-tolerant control algorithm for space robot under partial loss of actuator effectiveness
LEI Rong-hua and CHEN Li.Design of adaptive decentralized fault-tolerant control algorithm for space robot under partial loss of actuator effectiveness[J].Chinese Journal of Computational Mechanics,2019,36(4):477-482.
Authors:LEI Rong-hua and CHEN Li
Institution:School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China and School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China
Abstract:An adaptive H-infinity decentralized fault-tolerant control algorithm is proposed for a free-floating space robot under partial loss of actuator effectiveness.The dynamics equation of the space robot is established by the use of Lagrange method.The system is decentralized into several subsystems based on the idea of decentralization and the effective factor representing the control ability of the actuator is integrated into each subsystem.The actuator failure of a subsystem will not affect the normal operation of the adjacent actuator.The fault-tolerant control of the whole system is realized by designing unified fault-tolerant algorithm for each subsystem.Simulation results show that the algorithm has a higher tracking speed and higher tracking accuracy compared with the existing non-singular terminal sliding mode fault-tolerant algorithm.
Keywords:space robot  actuator fault  effective factor  adaptive  fault-tolerant control
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