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空间连续型机器人自适应鲁棒容错控制
Adaptive robust fault tolerant control of a space continuum robot
引用本文:邱小璐,蔡志勤,刘忠振,彭海军,吴志刚.空间连续型机器人自适应鲁棒容错控制
Adaptive robust fault tolerant control of a space continuum robot[J].计算力学学报,2021,38(1):46-50.
作者姓名:邱小璐  蔡志勤  刘忠振  彭海军  吴志刚
作者单位:大连理工大学 工程力学系, 大连 116024,大连理工大学 工程力学系, 大连 116024,大连理工大学 工程力学系, 大连 116024,大连理工大学 工程力学系, 大连 116024;大连理工大学 工业装备结构分析国家重点实验室, 大连 116024,大连理工大学 工业装备结构分析国家重点实验室, 大连 116024
基金项目:国家自然科学基金重点项目(91748203)资助项目.
摘    要:针对空间连续型机器人系统三臂节执行器并发故障的问题,提出一种自适应鲁棒容错控制算法。采用非奇异快速终端滑模控制器,并通过自适应RBF (Radial Basis Function)神经网络在线调整控制器的切换项增益,使控制器在模型参数摄动和外部干扰下依旧具有较高的跟踪精度和较强的鲁棒性。基于Lyapunov稳定性理论,证明了该控制器可以保证整个系统的渐进稳定性。仿真结果验证了本文算法的有效性。

关 键 词:空间连续型机器人  容错控制  自适应神经网络  终端滑模
收稿时间:2020/5/31 0:00:00
修稿时间:2020/8/17 0:00:00

Adaptive robust fault tolerant control of a space continuum robot
QIU Xiao-lu,CAI Zhi-qin,LIU Zhong-zhen,PENG Hai-jun and WU Zhi-gang.Adaptive robust fault tolerant control of a space continuum robot[J].Chinese Journal of Computational Mechanics,2021,38(1):46-50.
Authors:QIU Xiao-lu  CAI Zhi-qin  LIU Zhong-zhen  PENG Hai-jun and WU Zhi-gang
Institution:Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China,Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China,Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China,Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China;State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China and State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China
Abstract:An adaptive robust fault tolerant control algorithm is proposed to solve the three-arm actuator failure for a space continuum robot.The nonsingular fast terminal sliding mode controller is adopted and the switching gain of the control law is adjusted online through an adaptive RBF (Radial Basis Function) neural network,so the controller still has high tracking accuracy and strong robustness under the parameter uncertainties and external disturbance.The asymptotic stability of the whole system under the proposed control is verified by Lyapunov function.Simulation results show the effectiveness of the proposed algorithm.
Keywords:space continuum robot  fault tolerant control  adaptive neural network  terminal sliding mode
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