Multi-model switching-based fault tolerant control for planar robot manipulators

被引：18

作者：

Meng, Yajun ^{[1
]}

Yang, Hao ^{[1
]}

Jiang, Bin ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Jiangsu, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2020年 / 14卷 / 01期

基金：

中国国家自然科学基金;

关键词：

fault tolerant control; robust control; nonlinear control systems; control system synthesis; actuators; manipulators; position control; switching systems (control); controller switching; three-link planar robot manipulator; multimodel switching-based fault tolerant control; planar robot manipulators; fault-tolerant tracking control; planar manipulators; actuator; sensor faults; linear model; nonlinear model; sub-manipulators; decentralised fault-tolerant controllers; switching law; joint angular positions; SMALL-GAIN THEOREM; NONLINEAR-SYSTEMS; FUZZY CONTROL; ACTUATOR;

D O I：

10.1049/iet-cta.2019.0229

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study addresses the fault-tolerant tracking control issue for a class of planar manipulators with various actuator and sensor faults. Firstly, a set of linear models are constructed to approximate the original non-linear model at the different joint angular positions, which explicitly reveal the coupling effects among sub-manipulators. Secondly, a family of decentralised fault-tolerant controllers are proposed with each one being related to one linear model respectively, which does not require the information exchange among sub-manipulators and thus lightens the communication burden. Finally, a switching law is proposed among controllers such that the system remains stable in the presence of controller switching. An example of a three-link planar robot manipulator is taken to illustrate the effectiveness of the proposed methods.

引用

页码：1 / 11

页数：11

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