Decentralized Force/Position Fault-Tolerant Control for Constrained Reconfigurable Manipulators with Actuator Faults

被引：0
|
作者：
Zhou, Fan [1 ,2 ]
Dong, Bo [1 ]
Li, Yuanchun [1 ]
机构：
[1] Changchun Univ Technol, Changchun, Peoples R China
[2] Ryerson Univ, Toronto, ON M5B 2K3, Canada
来源：
NEURAL INFORMATION PROCESSING (ICONIP 2017), PT VI | 2017年 / 10639卷
基金：
中国国家自然科学基金;
关键词：
Constrained reconfigurable manipulators; Force/position fault-tolerant control; Joint torque estimation; Sliding mode control; SYSTEMS;
D O I：
10.1007/978-3-319-70136-3_3
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper addresses the problems of decentralized force/position fault-tolerant control for constrained reconfigurable manipulators. A novel decentralized force/position control method is proposed for constrained reconfigurable manipulators without torque sensing by estimating the joint torques with only position measurements. In addition, a modified sliding mode controller is designed to guarantee force/position tracking performance, and the actuator faults in independent subsystem can be compensated by using an adaptive algorithm. The stability of closed-loop system is analyzed using the Lyapunov method. Finally, simulations are performed to verify the advantages of the proposed method.
引用
收藏
页码：22 / 31
页数：10
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